commit 88cf8c6a7bbedd392c74f69ec7d93e5d06f8693d Author: Robofish <1683502971@qq.com> Date: Sun Apr 6 12:50:53 2025 +0800 RMUL2025 diff --git a/README.md b/README.md new file mode 100644 index 0000000..b346cd7 --- /dev/null +++ b/README.md @@ -0,0 +1 @@ +# QUT MOVE参加RMUL2025 哨兵代码 diff --git a/ai.sh b/ai.sh new file mode 100755 index 0000000..a909c12 --- /dev/null +++ b/ai.sh @@ -0,0 +1 @@ +/bin/python3 /home/robofish/Move_AI/src/move_ai/move_ai/simple_ai_cali.py \ No newline at end of file diff --git a/build.sh b/build.sh new file mode 100755 index 0000000..844d82e --- /dev/null +++ b/build.sh @@ -0,0 +1 @@ +colcon build --allow-overriding armor_detector armor_tracker auto_aim_interfaces rm_msgs \ No newline at end of file diff --git a/color.sh b/color.sh new file mode 100644 index 0000000..5e5b825 --- /dev/null +++ b/color.sh @@ -0,0 +1 @@ +ros2 param set /armor_detector detect_color 1 \ No newline at end of file diff --git a/filtered_pointcloud.pcd b/filtered_pointcloud.pcd new file mode 100644 index 0000000..805e6d5 Binary files /dev/null and b/filtered_pointcloud.pcd differ diff --git a/filtered_rotated_pointcloud.pcd b/filtered_rotated_pointcloud.pcd new file mode 100644 index 0000000..70388e9 Binary files /dev/null and b/filtered_rotated_pointcloud.pcd differ diff --git a/foxglove_bridge.sh b/foxglove_bridge.sh new file mode 100644 index 0000000..c2566db --- /dev/null +++ b/foxglove_bridge.sh @@ -0,0 +1,2 @@ +source install/setup.bash +ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765 \ No newline at end of file diff --git a/frames_2025-03-11_15.01.30.gv b/frames_2025-03-11_15.01.30.gv new file mode 100644 index 0000000..c6c2b57 --- /dev/null +++ b/frames_2025-03-11_15.01.30.gv @@ -0,0 +1,15 @@ +digraph G { +"odom" -> "lidar_odom"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; +"map" -> "odom"[label=" Broadcaster: default_authority\nAverage rate: 100.315\nBuffer length: 3.16\nMost recent transform: 1741676490.005607\nOldest transform: 1741676486.845556\n"]; +"lidar_odom" -> "base_link"[label=" Broadcaster: default_authority\nAverage rate: 10.227\nBuffer length: 4.4\nMost recent transform: 1741676488.665145\nOldest transform: 1741676484.26504\n"]; +"map" -> "goal_pose"[label=" Broadcaster: default_authority\nAverage rate: 10.217\nBuffer length: 4.6\nMost recent transform: 1741676489.937992\nOldest transform: 1741676485.337933\n"]; +"base_link" -> "wheel_1"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; +"base_link" -> "wheel_2"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; +"base_link" -> "wheel_3"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; +"base_link" -> "wheel_4"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; +"base_link" -> "livox_frame"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; +edge [style=invis]; + subgraph cluster_legend { style=bold; color=black; label ="view_frames Result"; +"Recorded at time: 1741676490.0194058"[ shape=plaintext ] ; +}->"map"; +} \ No newline at end of file diff --git a/frames_2025-03-11_15.01.30.pdf b/frames_2025-03-11_15.01.30.pdf new file mode 100644 index 0000000..741aad0 Binary files /dev/null and b/frames_2025-03-11_15.01.30.pdf differ diff --git a/nav_start.sh b/nav_start.sh new file mode 100644 index 0000000..2c0cae7 --- /dev/null +++ b/nav_start.sh @@ -0,0 +1,14 @@ +cd /home/robofish/Move_AI +source install/setup.bash +commands=( + "ros2 launch rm_vision_bringup vision_bringup.launch.py" + "ros2 launch rm_serial_driver rm_serial_driver.launch.py" + "ros2 launch armor_tracker tracker.launch.py" + # "ros2 param set /armor_detector detect_color 1" + +) + +for cmd in "${commands[@]}"; do + gnome-terminal -- bash -c "source install/setup.bash; $cmd; exec bash" + sleep 0.5 +done \ No newline at end of file diff --git a/output.pgm b/output.pgm new file mode 100644 index 0000000..1e6534c Binary files /dev/null and b/output.pgm differ diff --git a/output.yaml b/output.yaml new file mode 100644 index 0000000..ce17042 --- /dev/null +++ b/output.yaml @@ -0,0 +1,9 @@ +free_thresh: 0.196 +image: output.pgm +negate: 0 +occupied_thresh: 0.65 +origin: +- -25.127134323120117 +- -19.90888023376465 +- 0.0 +resolution: 0.05 diff --git a/pitch.png b/pitch.png new file mode 100644 index 0000000..2b3b98a Binary files /dev/null and b/pitch.png differ diff --git a/pitch.py b/pitch.py new file mode 100644 index 0000000..c61390e --- /dev/null +++ b/pitch.py @@ -0,0 +1,29 @@ +import numpy as np +import matplotlib.pyplot as plt + +# 数据 +x = np.array([3.59, 2.2, 1.53, 1.07, 0.7]) +y = np.array([-0.0011, -0.0011, -0.0010, -0.0010, -0.0015]) + +# 拟合多项式 +coefficients = np.polyfit(x, y, 2) # 二次多项式拟合 +polynomial = np.poly1d(coefficients) + +# 生成拟合曲线的x值 +x_fit = np.linspace(min(x), max(x), 100) +y_fit = polynomial(x_fit) + +# 绘制数据点和拟合曲线 +plt.scatter(x, y, color='red', label='数据点') +plt.plot(x_fit, y_fit, label='拟合曲线') + +# 添加标题和标签 +plt.title('数据拟合') +plt.xlabel('X') +plt.ylabel('Y') +plt.legend() + +# 保存图片 +plt.savefig('pitch.png') +#打印拟合多项式 +print(polynomial) \ No newline at end of file diff --git a/save_grid_map.sh b/save_grid_map.sh new file mode 100755 index 0000000..f216fdb --- /dev/null +++ b/save_grid_map.sh @@ -0,0 +1 @@ +ros2 run nav2_map_server map_saver_cli -f src/rm_nav_bringup/map/YOUR_MAP_NAME \ No newline at end of file diff --git a/save_pcd.sh b/save_pcd.sh new file mode 100755 index 0000000..b2515b7 --- /dev/null +++ b/save_pcd.sh @@ -0,0 +1 @@ +ros2 service call /map_save std_srvs/srv/Trigger \ No newline at end of file diff --git a/serial.sh b/serial.sh new file mode 100755 index 0000000..c605cf5 --- /dev/null +++ b/serial.sh @@ -0,0 +1 @@ +ros2 launch rm_serial_driver rm_serial_driver.launch.py \ No newline at end of file diff --git a/src/move_ai/move_ai/__init__.py b/src/move_ai/move_ai/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/move_ai/move_ai/plot.py b/src/move_ai/move_ai/plot.py new file mode 100644 index 0000000..74942aa --- /dev/null +++ b/src/move_ai/move_ai/plot.py @@ -0,0 +1,42 @@ +import matplotlib.pyplot as plt + +# 定义点的坐标和标签 +points = [ + {'x': -0.36, 'y': 0.8, 'label': '基地补给区（启动点）0'}, + {'x': -0.43, 'y': 1.29, 'label': '基地补给区（中心点）1'}, + {'x': 4.82, 'y': -1.12, 'label': '中央增益区（中心点）2'}, + {'x': 5.32, 'y': -1.12, 'label': '中央增益区（a点）3'}, + {'x': 4.82, 'y': -0.62, 'label': '中央增益区（b点）4'}, + {'x': 4.32, 'y': -1.12, 'label': '中央增益区（c点）5'}, + {'x': 4.82, 'y': -1.62, 'label': '中央增益区（d点）6'}, + {'x': 2.0, 'y': -2.5, 'label': '快速站模式途径点 7'}, + {'x': 4.7, 'y': 1.4, 'label': '回血模式途径点 8'}, + {'x': 4.71, 'y': 1.41, 'label': '回血模式途径点 9'}, + {'x': -0.359, 'y': 0.81, 'label': '基地补给区（测试点）10'}, + {'x': 4.81, 'y': -1.11, 'label': '中央增益区（测试点）11'} +] + +# 创建图形 +plt.figure(figsize=(10, 8)) + +# 绘制点 +for point in points: + plt.scatter(point['x'], point['y'], label=point['label']) + +# 添加标签 +for point in points: + plt.text(point['x'], point['y'], point['label'], fontsize=9, ha='right') + +# 设置标题和坐标轴标签 +plt.title('目标点展示') +plt.xlabel('X 坐标') +plt.ylabel('Y 坐标') + +# 显示图例 +plt.legend() + +# 显示图形 +plt.show() + +#保存图形 +plt.savefig('目标点展示.png') \ No newline at end of file diff --git a/src/move_ai/move_ai/simple_ai copy.py b/src/move_ai/move_ai/simple_ai copy.py new file mode 100644 index 0000000..608e86b --- /dev/null +++ b/src/move_ai/move_ai/simple_ai copy.py @@ -0,0 +1,212 @@ +import rclpy +from rclpy.node import Node +from rm_msgs.msg import DataRef, DataNav, MoveGoal, DataAI +import threading +import time + +SEARCH = 0b00010000 +TRACK = 0b00000000 +SHOOT = 0b00001000 + +FAST_SPEED = 10.0 +SLOW_SPEED = 1.0 +STOP_SPEED = 0.0 + +front = 0.0 +back = 3.14 +left = 1.57 +right = -1.57 + + +class ModeController(Node): + + def __init__(self): + super().__init__('mode_controller') + self.subscription_ref = self.create_subscription(DataRef,'/chassis/data_ref',self.ref_callback,10) + self.subscription_nav = self.create_subscription(DataNav,'chassis/data_nav',self.nav_callback,10) + self.subscription_ai = self.create_subscription(DataAI,'gimbal_left/data_ai',self.ai_left_callback,10) + self.subscription_ai = self.create_subscription(DataAI,'gimbal_right/data_ai',self.ai_right_callback,10) + self.publisher_ = self.create_publisher(MoveGoal, '/move_goal', 10) + self.goal_poses = [ + {'x': -0.36, 'y': 0.9}, # 基地补给区（启动点）0 + # {'x': -0.43, 'y': 1.5},# 基地补给区（中心点）1 + {'x': -0.43, 'y': 1.5},# 基地补给区（中心点）1 + {'x': 4.82, 'y': -1.62},# 中央增益区（中心点）2 + {'x': 5.32, 'y': -1.62},# 中央增益区（a点）3 + {'x': 4.82, 'y': -1.12},# 中央增益区（b点）4 + {'x': 4.32, 'y': -1.62},# 中央增益区（c点）5 + {'x': 4.82, 'y': -2.12},# 中央增益区（d点）6 + {'x': 1.6, 'y': -2.0},# 快速站模式途径点 7 + {'x': 4.7, 'y': 1.7},# 回血模式途径点 8 + {'x': 4.71, 'y': 1.71},# 回血模式途径点 9 + {'x': -0.359, 'y': 0.81}, # 基地补给区（测试点）10 + {'x': 4.81, 'y': -1.11},# 中央增益区（测试点）11 + ] + self.game_progress = 0 # 4: 比赛开始 + self.remain_hp = 400 # 剩余血量 + self.reached = False # 是否到达目标点 + self.mode = '等待比赛开始' # 模式 + self.goal_index = 0 # 目标点索引 + self.last_goal_pose = None # 上一个目标点 + self.tracker_left = False # 左侧是否有目标 + self.tracker_right = False # 右侧是否有目标 + self.allowance_17mm = 750 # 17mm允许发弹量 + self.countdown_thread = None + self.offset_x = 0.0 + self.offset_y = 0.0 + self.setting = False + self.publish_goal_pose(10, SLOW_SPEED, front, 0.1, True) + self.get_logger().info('Mode controller initialized') + + + def ref_callback(self, msg): + self.game_progress = msg.game_progress # 4: 比赛开始 # 3: 准备比赛 + # self.game_progress = 2 + self.remain_hp = msg.remain_hp # 剩余血量 + self.stage_remain_time = msg.stage_remain_time # 比赛时间 + # self.allowance_17mm = msg.allowance_17mm # 17mm允许发弹量 + self.update_mode() + return + + def nav_callback(self, msg): + if self.setting == False: + self.offset_x = msg.x + self.offset_y = msg.y + self.get_logger().info(f"Offset set to: x={self.offset_x}, y={self.offset_y}") + self.setting = True + return + else: + self.get_logger().info(f'mode: {self.mode}, goal_index: {self.goal_index}, reached: {msg.reached}') + self.reached = msg.reached # 是否到达目标点 + #快速站点： + if self.goal_index == 7 and self.reached and self.mode == '快速占点': + self.publish_goal_pose(2, FAST_SPEED, front, 0.5, False) + time.sleep(0.5) + return + if self.goal_index == 2 and self.reached and self.mode == '快速占点': + self.mode = '站点搜敌模式' + self.publish_goal_pose(3, SLOW_SPEED, front, 0.1, True) + return + #站点搜敌模式： + if self.mode == '站点搜敌模式' : + if self.tracker_left or self.tracker_right: + self.publish_goal_pose(self.goal_index, STOP_SPEED, front, 0.1, True) + return + else: + if self.reached: + self.goal_index = self.goal_index + 1 + if self.goal_index > 6: + self.goal_index = 3 + self.publish_goal_pose(self.goal_index, SLOW_SPEED, front, 0.2, True) + return + else: + self.publish_goal_pose(self.goal_index, SLOW_SPEED, front, 0.2, True) + return + + #站点模式： + if self.mode == '站点模式' and self.reached: + self.goal_index = self.goal_index + 1 + if self.goal_index > 6: + self.goal_index = 3 + self.publish_goal_pose(self.goal_index, SLOW_SPEED, front, 0.1, True) + return + + #回血模式： + if self.goal_index == 8 and self.reached and self.mode == '回血模式': + self.publish_goal_pose(1, FAST_SPEED, front, 0.1, True) + return + if self.goal_index == 1 and self.mode == '回血模式' and self.remain_hp >= 390: + self.publish_goal_pose(9, FAST_SPEED, front, 0.2, True) + return + if self.goal_index == 9 and self.reached and self.mode == '回血模式': + self.publish_goal_pose(2, FAST_SPEED, front, 0.1, True) + return + if self.goal_index == 2 and self.reached and self.mode == '回血模式': + self.mode = '站点搜敌模式' + self.publish_goal_pose(3, FAST_SPEED, front, 0.1, True) + return + return + + def ai_left_callback(self, msg): + if msg.notice == SEARCH: + self.tracker_left = False + else: + self.tracker_left = True + return + + def ai_right_callback(self, msg): + if msg.notice == SEARCH: + self.tracker_right = False + else: + self.tracker_right = True + return + + def update_mode(self): + if self.game_progress == 4: + if self.mode == '等待比赛开始': + self.mode = '快速占点' + self.publish_goal_pose(7, FAST_SPEED, front, 0.6, False) + return + if self.remain_hp < 200 and self.mode != '回血模式': + self.mode = '回血模式' + self.publish_goal_pose(8, FAST_SPEED, front, 0.5, True) + return + elif self.game_progress == 3: + if self.countdown_thread is None: + self.countdown_thread = threading.Thread(target=self.start_countdown, args=(self.stage_remain_time,)) + self.countdown_thread.start() + return + else: + self.publish_goal_pose(0, SLOW_SPEED, front, 0.1, False) + self.get_logger().info('Invalid game progress') + return + + def start_countdown(self, countdown_time): + self.get_logger().info(f'Countdown started: {countdown_time} seconds remaining.') + while countdown_time > 0: + self.get_logger().info(f'Time remaining: {countdown_time} seconds.') + time.sleep(1) + countdown_time -= 1 + self.mode = '快速占点' + self.publish_goal_pose(7, FAST_SPEED, front, 0.8, False) + self.get_logger().info('Countdown finished. Mode changed to 快速占点.') + return + + # 发布目标点 + def publish_goal_pose(self, index, max_speed, angle, tolerance, rotor): + if index < 0 or index >= len(self.goal_poses): + self.get_logger().error('Invalid index') + return + + goal_pose = MoveGoal() + goal_pose.x = self.goal_poses[index]['x'] + self.offset_x + goal_pose.y = self.goal_poses[index]['y'] + self.offset_y + goal_pose.angle = angle + goal_pose.max_speed = max_speed + goal_pose.tolerance = tolerance + goal_pose.rotor = rotor + + # 检查新发布的目标点信息是否与上一次发布的一样 + if self.goal_index > 3 and self.goal_index < 6: + if self.last_goal_pose and self.last_goal_pose.x == goal_pose.x and self.last_goal_pose.y == goal_pose.y and self.last_goal_pose.angle == goal_pose.angle and self.last_goal_pose.max_speed == goal_pose.max_speed and self.last_goal_pose.tolerance == goal_pose.tolerance and self.last_goal_pose.rotor == goal_pose.rotor: + # self.get_logger().info('Goal pose is the same as the last one, not publishing.') + return + if self.goal_index == 7 or self.goal_index == 0: + self.publisher_.publish(goal_pose) + time.sleep(0.5) + + self.publisher_.publish(goal_pose) + self.goal_index = index + self.last_goal_pose = goal_pose + self.get_logger().info(f'Published goal pose: {goal_pose}') + return + +def main(args=None): + rclpy.init(args=args) + mode_controller = ModeController() + rclpy.spin(mode_controller) + mode_controller.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/src/move_ai/move_ai/simple_ai.py b/src/move_ai/move_ai/simple_ai.py new file mode 100644 index 0000000..af70806 --- /dev/null +++ b/src/move_ai/move_ai/simple_ai.py @@ -0,0 +1,200 @@ +import rclpy +from rclpy.node import Node +from rm_msgs.msg import DataRef, DataNav, MoveGoal, DataAI +import threading +import time + +SEARCH = 0b00010000 +TRACK = 0b00000000 +SHOOT = 0b00001000 + +FAST_SPEED = 10.0 +SLOW_SPEED = 1.0 +STOP_SPEED = 0.0 + +front = 0.0 +back = 3.14 +left = 1.57 +right = -1.57 + + +class ModeController(Node): + + def __init__(self): + super().__init__('mode_controller') + self.subscription_ref = self.create_subscription(DataRef,'/chassis/data_ref',self.ref_callback,10) + self.subscription_nav = self.create_subscription(DataNav,'chassis/data_nav',self.nav_callback,10) + self.subscription_ai = self.create_subscription(DataAI,'gimbal_left/data_ai',self.ai_left_callback,10) + self.subscription_ai = self.create_subscription(DataAI,'gimbal_right/data_ai',self.ai_right_callback,10) + self.publisher_ = self.create_publisher(MoveGoal, '/move_goal', 10) + self.goal_poses = [ + {'x': -0.36, 'y': 0.8}, # 基地补给区（启动点）0 + {'x': -0.43, 'y': 1.5},# 基地补给区（中心点）1 + {'x': 4.82, 'y': -1.62},# 中央增益区（中心点）2 + {'x': 5.32, 'y': -1.62},# 中央增益区（a点）3 + {'x': 4.82, 'y': -1.12},# 中央增益区（b点）4 + {'x': 4.32, 'y': -1.62},# 中央增益区（c点）5 + {'x': 4.82, 'y': -2.12},# 中央增益区（d点）6 + {'x': 1.6, 'y': -2.0},# 快速站模式途径点 7 + {'x': 4.7, 'y': 1.7},# 回血模式途径点 8 + {'x': 4.71, 'y': 1.71},# 回血模式途径点 9 + {'x': -0.359, 'y': 0.81}, # 基地补给区（测试点）10 + {'x': 4.81, 'y': -1.11},# 中央增益区（测试点）11 + ] + self.game_progress = 0 # 4: 比赛开始 + self.remain_hp = 400 # 剩余血量 + self.reached = False # 是否到达目标点 + self.mode = '等待比赛开始' # 模式 + self.goal_index = 0 # 目标点索引 + self.last_goal_pose = None # 上一个目标点 + self.tracker_left = False # 左侧是否有目标 + self.tracker_right = False # 右侧是否有目标 + self.allowance_17mm = 750 # 17mm允许发弹量 + self.countdown_thread = None + self.publish_goal_pose(10, SLOW_SPEED, front, 0.1, True) + self.get_logger().info('Mode controller initialized') + + def ref_callback(self, msg): + self.game_progress = msg.game_progress # 4: 比赛开始 # 3: 准备比赛 + # self.game_progress = 4 + self.remain_hp = msg.remain_hp # 剩余血量 + self.stage_remain_time = msg.stage_remain_time # 比赛时间 + # self.allowance_17mm = msg.allowance_17mm # 17mm允许发弹量 + self.update_mode() + return + + def nav_callback(self, msg): + self.get_logger().info(f'mode: {self.mode}, goal_index: {self.goal_index}, reached: {msg.reached}') + self.reached = msg.reached # 是否到达目标点 + #快速站点： + if self.goal_index == 7 and self.reached and self.mode == '快速占点': + self.publish_goal_pose(2, FAST_SPEED, front, 0.5, False) + time.sleep(0.5) + return + if self.goal_index == 2 and self.reached and self.mode == '快速占点': + self.mode = '站点搜敌模式' + self.publish_goal_pose(3, SLOW_SPEED, front, 0.1, True) + return + #站点搜敌模式： + if self.mode == '站点搜敌模式' : + if self.tracker_left or self.tracker_right: + self.publish_goal_pose(self.goal_index, STOP_SPEED, front, 0.1, True) + return + else: + if self.reached: + self.goal_index = self.goal_index + 1 + if self.goal_index > 6: + self.goal_index = 3 + self.publish_goal_pose(self.goal_index, SLOW_SPEED, front, 0.2, True) + return + else: + self.publish_goal_pose(self.goal_index, SLOW_SPEED, front, 0.2, True) + return + + #站点模式： + if self.mode == '站点模式' and self.reached: + self.goal_index = self.goal_index + 1 + if self.goal_index > 6: + self.goal_index = 3 + self.publish_goal_pose(self.goal_index, SLOW_SPEED, front, 0.1, True) + return + + #回血模式： + if self.goal_index == 8 and self.reached and self.mode == '回血模式': + self.publish_goal_pose(1, FAST_SPEED, front, 0.1, True) + return + if self.goal_index == 1 and self.mode == '回血模式' and self.remain_hp >= 390: + self.publish_goal_pose(9, FAST_SPEED, front, 0.2, True) + return + if self.goal_index == 9 and self.reached and self.mode == '回血模式': + self.publish_goal_pose(2, FAST_SPEED, front, 0.1, True) + return + if self.goal_index == 2 and self.reached and self.mode == '回血模式': + self.mode = '站点搜敌模式' + self.publish_goal_pose(3, FAST_SPEED, front, 0.1, True) + return + return + + def ai_left_callback(self, msg): + if msg.notice == SEARCH: + self.tracker_left = False + else: + self.tracker_left = True + return + + def ai_right_callback(self, msg): + if msg.notice == SEARCH: + self.tracker_right = False + else: + self.tracker_right = True + return + + def update_mode(self): + if self.game_progress == 4: + if self.mode == '等待比赛开始': + self.mode = '快速占点' + self.publish_goal_pose(7, FAST_SPEED, front, 0.4, False) + return + if self.remain_hp < 200 and self.mode != '回血模式': + self.mode = '回血模式' + self.publish_goal_pose(8, FAST_SPEED, front, 0.5, True) + return + elif self.game_progress == 3: + if self.countdown_thread is None: + self.countdown_thread = threading.Thread(target=self.start_countdown, args=(self.stage_remain_time,)) + self.countdown_thread.start() + return + else: + self.publish_goal_pose(0, SLOW_SPEED, front, 0.1, False) + self.get_logger().info('Invalid game progress') + return + + def start_countdown(self, countdown_time): + self.get_logger().info(f'Countdown started: {countdown_time} seconds remaining.') + while countdown_time > 0: + self.get_logger().info(f'Time remaining: {countdown_time} seconds.') + time.sleep(1) + countdown_time -= 1 + self.mode = '快速占点' + self.publish_goal_pose(7, FAST_SPEED, front, 0.8, False) + self.get_logger().info('Countdown finished. Mode changed to 快速占点.') + return + + # 发布目标点 + def publish_goal_pose(self, index, max_speed, angle, tolerance, rotor): + if index < 0 or index >= len(self.goal_poses): + self.get_logger().error('Invalid index') + return + + goal_pose = MoveGoal() + goal_pose.x = self.goal_poses[index]['x'] + goal_pose.y = self.goal_poses[index]['y'] + goal_pose.angle = angle + goal_pose.max_speed = max_speed + goal_pose.tolerance = tolerance + goal_pose.rotor = rotor + + # 检查新发布的目标点信息是否与上一次发布的一样 + if self.goal_index > 3 and self.goal_index < 6: + if self.last_goal_pose and self.last_goal_pose.x == goal_pose.x and self.last_goal_pose.y == goal_pose.y and self.last_goal_pose.angle == goal_pose.angle and self.last_goal_pose.max_speed == goal_pose.max_speed and self.last_goal_pose.tolerance == goal_pose.tolerance and self.last_goal_pose.rotor == goal_pose.rotor: + # self.get_logger().info('Goal pose is the same as the last one, not publishing.') + return + if self.goal_index == 7 or self.goal_index == 0: + self.publisher_.publish(goal_pose) + time.sleep(0.5) + + self.publisher_.publish(goal_pose) + self.goal_index = index + self.last_goal_pose = goal_pose + self.get_logger().info(f'Published goal pose: {goal_pose}') + return + +def main(args=None): + rclpy.init(args=args) + mode_controller = ModeController() + rclpy.spin(mode_controller) + mode_controller.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/src/move_ai/move_ai/simple_ai_cali.py b/src/move_ai/move_ai/simple_ai_cali.py new file mode 100644 index 0000000..da9832e --- /dev/null +++ b/src/move_ai/move_ai/simple_ai_cali.py @@ -0,0 +1,214 @@ +import rclpy +from rclpy.node import Node +from rm_msgs.msg import DataRef, DataNav, MoveGoal, DataAI +import threading +import time + +SEARCH = 0b00010000 +TRACK = 0b00000000 +SHOOT = 0b00001000 + +FAST_SPEED = 10.0 +SLOW_SPEED = 1.0 +STOP_SPEED = 0.0 + +front = 0.0 +back = 3.14 +left = 1.57 +right = -1.57 + + +class ModeController(Node): + + def __init__(self): + super().__init__('mode_controller') + self.subscription_ref = self.create_subscription(DataRef,'/chassis/data_ref',self.ref_callback,10) + self.subscription_nav = self.create_subscription(DataNav,'chassis/data_nav',self.nav_callback,10) + self.subscription_ai = self.create_subscription(DataAI,'gimbal_left/data_ai',self.ai_left_callback,10) + self.subscription_ai = self.create_subscription(DataAI,'gimbal_right/data_ai',self.ai_right_callback,10) + self.publisher_ = self.create_publisher(MoveGoal, '/move_goal', 10) + self.goal_poses = [ + {'x': -0.36, 'y': 0.9}, # 基地补给区（启动点）0 + # {'x': -0.43, 'y': 1.5},# 基地补给区（中心点）1 + {'x': -0.43, 'y': 1.5},# 基地补给区（中心点）1 + {'x': 4.82, 'y': -1.62},# 中央增益区（中心点）2 + {'x': 5.32, 'y': -1.62},# 中央增益区（a点）3 + {'x': 4.82, 'y': -1.12},# 中央增益区（b点）4 + {'x': 4.32, 'y': -1.62},# 中央增益区（c点）5 + {'x': 4.82, 'y': -2.12},# 中央增益区（d点）6 + {'x': 1.6, 'y': -2.0},# 快速站模式途径点 7 + {'x': 4.7, 'y': 1.7},# 回血模式途径点 8 + {'x': 4.71, 'y': 1.71},# 回血模式途径点 9 + {'x': -0.359, 'y': 0.81}, # 基地补给区（测试点）10 + {'x': 4.81, 'y': -1.11},# 中央增益区（测试点）11 + ] + self.game_progress = 0 # 4: 比赛开始 + self.remain_hp = 400 # 剩余血量 + self.reached = False # 是否到达目标点 + self.mode = '等待比赛开始' # 模式 + self.goal_index = 0 # 目标点索引 + self.last_goal_pose = None # 上一个目标点 + self.tracker_left = False # 左侧是否有目标 + self.tracker_right = False # 右侧是否有目标 + self.allowance_17mm = 750 # 17mm允许发弹量 + self.countdown_thread = None + self.offset_x = 0.0 + self.offset_y = 0.0 + self.setting = False + self.countdown_started = False + self.publish_goal_pose(10, SLOW_SPEED, front, 0.1, True) + self.get_logger().info('Mode controller initialized') + + + def ref_callback(self, msg): + self.game_progress = msg.game_progress # 4: 比赛开始 # 3: 准备比赛 + # self.game_progress = 2 + self.remain_hp = msg.remain_hp # 剩余血量 + self.stage_remain_time = msg.stage_remain_time # 比赛时间 + # self.allowance_17mm = msg.allowance_17mm # 17mm允许发弹量 + self.update_mode() + return + + def nav_callback(self, msg): + if self.setting == False: + self.offset_x = msg.x + self.offset_y = msg.y + self.get_logger().info(f"Offset set to: x={self.offset_x}, y={self.offset_y}") + self.setting = True + return + else: + self.get_logger().info(f'mode: {self.mode}, goal_index: {self.goal_index}, reached: {msg.reached}') + self.reached = msg.reached # 是否到达目标点 + #快速站点： + if self.goal_index == 7 and self.reached and self.mode == '快速占点': + self.publish_goal_pose(2, FAST_SPEED, front, 0.5, False) + time.sleep(0.5) + return + if self.goal_index == 2 and self.reached and self.mode == '快速占点': + self.mode = '站点搜敌模式' + self.publish_goal_pose(3, SLOW_SPEED, front, 0.1, True) + return + #站点搜敌模式： + if self.mode == '站点搜敌模式' : + if self.tracker_left or self.tracker_right: + self.publish_goal_pose(self.goal_index, STOP_SPEED, front, 0.1, True) + return + else: + if self.reached: + self.goal_index = self.goal_index + 1 + if self.goal_index > 6: + self.goal_index = 3 + self.publish_goal_pose(self.goal_index, SLOW_SPEED, front, 0.2, True) + return + else: + self.publish_goal_pose(self.goal_index, SLOW_SPEED, front, 0.2, True) + return + + #站点模式： + if self.mode == '站点模式' and self.reached: + self.goal_index = self.goal_index + 1 + if self.goal_index > 6: + self.goal_index = 3 + self.publish_goal_pose(self.goal_index, SLOW_SPEED, front, 0.1, True) + return + + #回血模式： + if self.goal_index == 8 and self.reached and self.mode == '回血模式': + self.publish_goal_pose(1, FAST_SPEED, front, 0.1, True) + return + if self.goal_index == 1 and self.mode == '回血模式' and self.remain_hp >= 390: + self.publish_goal_pose(9, FAST_SPEED, front, 0.2, True) + return + if self.goal_index == 9 and self.reached and self.mode == '回血模式': + self.publish_goal_pose(2, FAST_SPEED, front, 0.1, True) + return + if self.goal_index == 2 and self.reached and self.mode == '回血模式': + self.mode = '站点搜敌模式' + self.publish_goal_pose(3, FAST_SPEED, front, 0.1, True) + return + return + + def ai_left_callback(self, msg): + if msg.notice == SEARCH: + self.tracker_left = False + else: + self.tracker_left = True + return + + def ai_right_callback(self, msg): + if msg.notice == SEARCH: + self.tracker_right = False + else: + self.tracker_right = True + return + + def update_mode(self): + if self.game_progress == 4: + if self.mode == '等待比赛开始': + self.mode = '快速占点' + self.publish_goal_pose(7, FAST_SPEED, front, 0.6, False) + return + if self.remain_hp < 200 and self.mode != '回血模式': + self.mode = '回血模式' + self.publish_goal_pose(8, FAST_SPEED, front, 0.5, True) + return + elif self.game_progress == 3: + if not self.countdown_started: # 检查标志位 + self.countdown_thread = threading.Thread(target=self.start_countdown, args=(self.stage_remain_time,)) + self.countdown_thread.start() + self.countdown_started = True # 设置标志位 + return + else: + self.publish_goal_pose(0, SLOW_SPEED, front, 0.1, False) + self.get_logger().info('Invalid game progress') + return + + def start_countdown(self, countdown_time): + self.get_logger().info(f'Countdown started: {countdown_time} seconds remaining.') + while countdown_time > 0: + self.get_logger().info(f'Time remaining: {countdown_time} seconds.') + time.sleep(1) + countdown_time -= 1 + self.mode = '快速占点' + self.publish_goal_pose(7, FAST_SPEED, front, 0.8, False) + self.get_logger().info('Countdown finished. Mode changed to 快速占点.') + return + + # 发布目标点 + def publish_goal_pose(self, index, max_speed, angle, tolerance, rotor): + if index < 0 or index >= len(self.goal_poses): + self.get_logger().error('Invalid index') + return + + goal_pose = MoveGoal() + goal_pose.x = self.goal_poses[index]['x'] + self.offset_x + goal_pose.y = self.goal_poses[index]['y'] + self.offset_y + goal_pose.angle = angle + goal_pose.max_speed = max_speed + goal_pose.tolerance = tolerance + goal_pose.rotor = rotor + + # 检查新发布的目标点信息是否与上一次发布的一样 + if self.goal_index > 3 and self.goal_index < 6: + if self.last_goal_pose and self.last_goal_pose.x == goal_pose.x and self.last_goal_pose.y == goal_pose.y and self.last_goal_pose.angle == goal_pose.angle and self.last_goal_pose.max_speed == goal_pose.max_speed and self.last_goal_pose.tolerance == goal_pose.tolerance and self.last_goal_pose.rotor == goal_pose.rotor: + # self.get_logger().info('Goal pose is the same as the last one, not publishing.') + return + if self.goal_index == 7 or self.goal_index == 0: + self.publisher_.publish(goal_pose) + time.sleep(0.5) + + self.publisher_.publish(goal_pose) + self.goal_index = index + self.last_goal_pose = goal_pose + self.get_logger().info(f'Published goal pose: {goal_pose}') + return + +def main(args=None): + rclpy.init(args=args) + mode_controller = ModeController() + rclpy.spin(mode_controller) + mode_controller.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/src/move_ai/package.xml b/src/move_ai/package.xml new file mode 100644 index 0000000..7ad530c --- /dev/null +++ b/src/move_ai/package.xml @@ -0,0 +1,21 @@ + + + move_ai + 0.0.0 + TODO: Package description + Your Name + TODO: License declaration + + ament_cmake + rclpy + rm_msgs + rclpy + rm_msgs + + ament_lint_auto + ament_lint_common + + + ament_python + + \ No newline at end of file diff --git a/src/move_ai/resource/move_ai b/src/move_ai/resource/move_ai new file mode 100644 index 0000000..e69de29 diff --git a/src/move_ai/setup.cfg b/src/move_ai/setup.cfg new file mode 100644 index 0000000..0bc04a3 --- /dev/null +++ b/src/move_ai/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/move_ai +[install] +install_scripts=$base/lib/move_ai diff --git a/src/move_ai/setup.py b/src/move_ai/setup.py new file mode 100644 index 0000000..22474da --- /dev/null +++ b/src/move_ai/setup.py @@ -0,0 +1,27 @@ +# filepath: /home/robofish/Move_AI/src/move_ai/setup.py +from setuptools import setup + +package_name = 'move_ai' + +setup( + name=package_name, + version='0.0.0', + packages=[package_name], + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='Your Name', + maintainer_email='your.email@example.com', + description='TODO: Package description', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'simple_ai = move_ai.simple_ai:main' + ], + }, +) \ No newline at end of file diff --git a/src/move_ai/test/test_copyright.py b/src/move_ai/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/src/move_ai/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# 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. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/src/move_ai/test/test_flake8.py b/src/move_ai/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/src/move_ai/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# 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. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/src/move_ai/test/test_pep257.py b/src/move_ai/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/src/move_ai/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# 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. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/src/rm_decision/decision.py b/src/rm_decision/decision.py new file mode 100644 index 0000000..0048c81 --- /dev/null +++ b/src/rm_decision/decision.py @@ -0,0 +1,166 @@ +import rclpy +from rclpy.node import Node +from rm_msgs.msg import DataRef, DataNav, GoalPose, DataAI + +SEARCH = 0b00010000 +TRACK = 0b00000000 +SHOOT = 0b00001000 + +class ModeController(Node): + + def __init__(self): + super().__init__('mode_controller') + self.subscription_ref = self.create_subscription( + DataRef, + '/chassis/data_ref', + self.ref_callback, + 10) + self.subscription_nav = self.create_subscription( + DataNav, + 'chassis/data_nav', + self.nav_callback, + 10) + self.subscription_ai = self.create_subscription( + DataAI, + 'gimbal_left/data_ai', + self.ai_callback, + 10) + self.subscription_ai = self.create_subscription( + DataAI, + 'gimbal_right/data_ai', + self.ai_callback, + 10) + self.publisher_ = self.create_publisher(GoalPose, 'goal_pose', 10) + self.goal_poses = [ + {'x': 0.0, 'y': 0.0, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.1, 'rotor': False},#起点坐标右上（无陀螺）0 + {'x': 0.0, 'y': 0.0, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.1, 'rotor': True},#起点坐标右上（有陀螺） 1 + {'x': 0.0, 'y': 0.0, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.1, 'rotor': False},#起点坐标左上（无陀螺）2 + {'x': 0.0, 'y': 0.0, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.1, 'rotor': True},#起点坐标左上（有陀螺）3 + {'x': 0.0, 'y': 0.0, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.1, 'rotor': False},#补给点坐标（有陀螺）4 + {'x': 2.5, 'y': -2.5, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.8, 'rotor': False},#快速上线途径点（无陀螺）5 + {'x': 3.0, 'y': -1.0, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.5, 'rotor': False},#中心增益点坐标（无陀螺）6 + {'x': 3.0, 'y': -1.0, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.1, 'rotor': False},#中心增益点坐标（有陀螺）7 + {'x': 3.7, 'y': -2.1, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.1, 'rotor': True},#a点坐标（有陀螺）8 + {'x': 3.1, 'y': -1.7, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.1, 'rotor': True},#b点坐标（有陀螺）9 + {'x': 2.5, 'y': -2.5, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.1, 'rotor': True},#c点坐标（有陀螺）10 + {'x': 3.0, 'y': -3.2, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.1, 'rotor': True},#d点坐标（有陀螺）11 + {'x': 2.4, 'y': 0.1, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.1, 'rotor': False},#回城途径点坐标11（有陀螺） + {'x': 2.4, 'y': 0.1, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.1, 'rotor': False},#回城途径点坐标2（有陀螺） + {'x': 4.2, 'y': -1.6, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.1, 'rotor': True},#爽射点坐标1（有陀螺） + {'x': 4.2, 'y': -1.6, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.1, 'rotor': True},#爽射点坐标2（有陀螺） + {'x': 4.2, 'y': -1.6, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.1, 'rotor': True},#狙击点坐标1（有陀螺） + {'x': 4.2, 'y': -1.6, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.1, 'rotor': True},#狙击点坐标2（有陀螺） + ] + self.game_progress = 0 + self.remain_hp = 0 + self.reached = False + self.mode = '等待比赛开始' + self.goal_index = 0 + self.tracker_left = False + self.tracker_right = False + self.allowance_17mm = 750 + self.publish_goal_pose(0) + + def ref_callback(self, msg): + self.game_progress = msg.game_progress # 4: 比赛开始 + self.game_progress = 4 + self.remain_hp = msg.remain_hp # 剩余血量 + # self.allowance_17mm = msg.allowance_17mm # 17mm允许发弹量 + self.update_mode() + + def nav_callback(self, msg): + self.reached = msg.reached # 是否到达目标点 + if self.mode == '快速占点': + if self.goal_index == 5 and self.reached: + self.publish_goal_pose(6) + elif self.goal_index == 6 and self.reached: + self.publish_goal_pose(7) + elif self.goal_index == 7 and self.reached: + self.mode = '站点模式' + self.publish_goal_pose(8) + elif self.mode == '回血模式': + if self.goal_index == 12 and self.reached: + self.publish_goal_pose(4) + elif self.mode == '回点模式': + if self.goal_index == 13 and self.reached: + self.publish_goal_pose(6) + elif self.goal_index == 6 and self.reached: + self.mode = '站点模式' + self.publish_goal_pose(8) + elif self.mode == '站点模式': + # 8, 9, 10, 11循环跑 + if self.goal_index == 8 and self.reached: + self.publish_goal_pose(9) + elif self.goal_index == 9 and self.reached: + self.publish_goal_pose(10) + elif self.goal_index == 10 and self.reached: + self.publish_goal_pose(11) + elif self.goal_index == 11 and self.reached: + self.publish_goal_pose(8) + + def ai_callback(self, msg): + + + def update_mode(self): + if self.game_progress == 4: + if self.mode == '等待比赛开始': + self.mode = '快速占点' + self.publish_goal_pose(5) + elif self.remain_hp < 200 and self.mode != '回血模式': + self.mode = '回血模式' + self.publish_goal_pose(12) + elif self.mode == '回血模式' and self.remain_hp >= 240: + self.mode = '回点模式' + self.publish_goal_pose(13) + # elif self.mode == '站点模式': + + else: + self.mode = '等待比赛开始' + self.get_logger().info('等待比赛开始。。。') + + # self.get_logger().info(f'当前模式: {self.mode}') + + def publish_goal_pose(self, index): + if index < 0 or index >= len(self.goal_poses): + self.get_logger().error('Invalid index') + return + + goal_pose = GoalPose() + goal_pose.x = self.goal_poses[index]['x'] + goal_pose.y = self.goal_poses[index]['y'] + goal_pose.angle = self.goal_poses[index]['angle'] + goal_pose.max_speed = self.goal_poses[index]['max_speed'] + goal_pose.tolerance = self.goal_poses[index]['tolerance'] + goal_pose.rotor = self.goal_poses[index]['rotor'] + + self.publisher_.publish(goal_pose) + self.goal_index = index + self.get_logger().info(f'Published goal pose: {goal_pose}') + + # 一个可以单独控制max_speed的函数 + def publish_goal_pose(self, index, max_speed): + if index < 0 or index >= len(self.goal_poses): + self.get_logger().error('Invalid index') + return + + goal_pose = GoalPose() + goal_pose.x = self.goal_poses[index]['x'] + goal_pose.y = self.goal_poses[index]['y'] + goal_pose.angle = self.goal_poses[index]['angle'] + goal_pose.max_speed = max_speed + goal_pose.tolerance = self.goal_poses[index]['tolerance'] + goal_pose.rotor = self.goal_poses[index]['rotor'] + + self.publisher_.publish(goal_pose) + self.goal_index = index + self.get_logger().info(f'Published goal pose: {goal_pose}') + +def main(args=None): + rclpy.init(args=args) + mode_controller = ModeController() + rclpy.spin(mode_controller) + mode_controller.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/src/rm_decision/move_test.py b/src/rm_decision/move_test.py new file mode 100644 index 0000000..105c565 --- /dev/null +++ b/src/rm_decision/move_test.py @@ -0,0 +1,47 @@ +import rclpy +from rclpy.node import Node +from rm_msgs.msg import MoveGoal + +class GoalPosePublisher(Node): + def __init__(self): + super().__init__('goal_pose_publisher') + self.publisher_ = self.create_publisher(MoveGoal, 'move_goal', 10) + self.goal_poses = [ + {'x': -0.8, 'y': 0.0, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.1, 'rotor': False}, + {'x': 2.8, 'y': -2.6, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.1, 'rotor': False}, + {'x': 4.2, 'y': -1.6, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.1, 'rotor': False}, + {'x': 4.2, 'y': -1.6, 'angle': 0.0, 'max_speed': 10.0, 'tolerance': 0.1, 'rotor': True}, + ] + + def publish_goal_pose(self, index): + if index < 0 or index >= len(self.goal_poses): + self.get_logger().error('Invalid index') + return + + goal_pose = MoveGoal() + goal_pose.x = self.goal_poses[index]['x'] + goal_pose.y = self.goal_poses[index]['y'] + goal_pose.angle = self.goal_poses[index]['angle'] + goal_pose.max_speed = self.goal_poses[index]['max_speed'] + goal_pose.tolerance = self.goal_poses[index]['tolerance'] + goal_pose.rotor = self.goal_poses[index]['rotor'] + + self.publisher_.publish(goal_pose) + self.get_logger().info(f'Published goal pose: {goal_pose}') + +def main(args=None): + rclpy.init(args=args) + node = GoalPosePublisher() + + try: + while rclpy.ok(): + index = int(input('Enter the index of the goal pose to publish: ')) + node.publish_goal_pose(index) + except KeyboardInterrupt: + pass + + node.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/src/rm_decision/simple_ai.py b/src/rm_decision/simple_ai.py new file mode 100644 index 0000000..4db9251 --- /dev/null +++ b/src/rm_decision/simple_ai.py @@ -0,0 +1,190 @@ +import rclpy +from rclpy.node import Node +from rm_msgs.msg import DataRef, DataNav, MoveGoal, DataAI +import threading +import time + +SEARCH = 0b00010000 +TRACK = 0b00000000 +SHOOT = 0b00001000 + +FAST_SPEED = 10.0 +SLOW_SPEED = 1.0 +STOP_SPEED = 0.0 + +front = 0.0 +back = 3.14 +left = 1.57 +right = -1.57 + + +class ModeController(Node): + + def __init__(self): + super().__init__('mode_controller') + self.subscription_ref = self.create_subscription(DataRef,'/chassis/data_ref',self.ref_callback,10) + self.subscription_nav = self.create_subscription(DataNav,'chassis/data_nav',self.nav_callback,10) + self.subscription_ai = self.create_subscription(DataAI,'gimbal_left/data_ai',self.ai_left_callback,10) + self.subscription_ai = self.create_subscription(DataAI,'gimbal_right/data_ai',self.ai_right_callback,10) + self.publisher_ = self.create_publisher(MoveGoal, '/move_goal', 10) + self.goal_poses = [ + {'x': -0.05, 'y': -0.3}, # 基地补给区（启动点）0 + {'x': -0.05, 'y': 0.4},# 基地补给区（中心点）1 + {'x': 3.55, 'y': -1.8},# 中央增益区（中心点）2 + {'x': 3.8, 'y': -1.8},# 中央增益区（a点） 3 + {'x': 3.3, 'y': -1.0},# 中央增益区（b点） 4 + {'x': 2.8, 'y': -1.8},# 中央增益区（c点） 5 + {'x': 3.3, 'y': -2.3},# 中央增益区（d点） 6 + {'x': 2.0, 'y': -2.6},# 快速站模式途径点 7 + {'x': 1.8, 'y': 0.4},# 回血模式途径点 8 + {'x': 1.8, 'y': 0.4},# 回血模式途径点 9 + {'x': -0.051, 'y': -0.3}, # 基地补给区（测试点）10 + ] + self.game_progress = 0 # 4: 比赛开始 + self.remain_hp = 400 # 剩余血量 + self.reached = False # 是否到达目标点 + self.mode = '等待比赛开始' # 模式 + self.goal_index = 0 # 目标点索引 + self.last_goal_pose = None # 上一个目标点 + self.tracker_left = False # 左侧是否有目标 + self.tracker_right = False # 右侧是否有目标 + self.allowance_17mm = 750 # 17mm允许发弹量 + self.countdown_thread = None + self.publish_goal_pose(10, SLOW_SPEED, front, 0.1, True) + self.get_logger().info('Mode controller initialized') + # self.publish_goal_pose(10, SLOW_SPEED, front, 0.1, True) + # time.sleep(1) + # self.publish_goal_pose(0, SLOW_SPEED, front, 0.1, True) + # time.sleep(1) + + def ref_callback(self, msg): + self.game_progress = msg.game_progress # 4: 比赛开始 # 3: 准备比赛 + self.game_progress = 4 + self.remain_hp = msg.remain_hp # 剩余血量 + self.stage_remain_time = msg.stage_remain_time # 比赛时间 + # self.allowance_17mm = msg.allowance_17mm # 17mm允许发弹量 + self.update_mode() + + def nav_callback(self, msg): + self.reached = msg.reached # 是否到达目标点 + #快速站点： + if self.goal_index == 7 and self.reached and self.mode == '快速占点': + self.publish_goal_pose(2, FAST_SPEED, front, 0.2, False) + time.sleep(1) + if self.goal_index == 2 and self.reached and self.mode == '快速占点': + self.mode = '站点搜敌模式' + self.publish_goal_pose(3, SLOW_SPEED, front, 0.1, True) + #站点搜敌模式： + if self.mode == '站点搜敌模式' : + if self.tracker_left or self.tracker_right: + self.publish_goal_pose(self.goal_index, STOP_SPEED, front, 0.1, True) + else: + if self.reached: + self.goal_index = self.goal_index + 1 + if self.goal_index > 6: + self.goal_index = 3 + self.publish_goal_pose(self.goal_index, SLOW_SPEED, front, 0.3, True) + else: + self.publish_goal_pose(self.goal_index, SLOW_SPEED, front, 0.3, True) + + #站点模式： + if self.mode == '站点模式' and self.reached: + self.goal_index = self.goal_index + 1 + if self.goal_index > 6: + self.goal_index = 3 + self.publish_goal_pose(self.goal_index, SLOW_SPEED, front, 0.1, True) + + #回血模式： + if self.goal_index == 8 and self.reached and self.mode == '回血模式': + self.publish_goal_pose(1, FAST_SPEED, front, 0.1, True) + if self.goal_index == 1 and self.mode == '回血模式' and self.remain_hp >= 390: + self.publish_goal_pose(9, FAST_SPEED, front, 0.2, True) + if self.goal_index == 9 and self.reached and self.mode == '回血模式': + self.publish_goal_pose(2, FAST_SPEED, front, 0.1, True) + if self.goal_index == 2 and self.reached and self.mode == '回血模式': + # if self.allowance_17mm < 2: + # self.mode = '站点模式' + # else : + self.mode = '站点搜敌模式' + self.publish_goal_pose(3, FAST_SPEED, front, 0.1, False) + + def ai_left_callback(self, msg): + if msg.notice == SEARCH: + self.tracker_left = False + else: + self.tracker_left = True + + def ai_right_callback(self, msg): + if msg.notice == SEARCH: + self.tracker_right = False + else: + self.tracker_right = True + + def update_mode(self): + if self.game_progress == 4: + if self.mode == '等待比赛开始': + self.mode = '快速占点' + self.publish_goal_pose(7, FAST_SPEED, front, 0.4, False) + if self.remain_hp < 200 and self.mode != '回血模式': + self.mode = '回血模式' + self.publish_goal_pose(8, FAST_SPEED, front, 0.5, True) + elif self.game_progress == 3: + if self.countdown_thread is None: + self.countdown_thread = threading.Thread(target=self.start_countdown, args=(self.stage_remain_time,)) + self.countdown_thread.start() + # elif self.game_progress == 2: + # self.mode = '等待比赛开始' + # #延时1s + # time.sleep(1) + # self.publish_goal_pose(0, SLOW_SPEED, front, 0.1, True) + # self.get_logger().info('等待比赛开始。。。') + else: + self.publish_goal_pose(10, SLOW_SPEED, front, 0.1, True) + self.get_logger().info('Invalid game progress') + + def start_countdown(self, countdown_time): + self.get_logger().info(f'Countdown started: {countdown_time} seconds remaining.') + while countdown_time > 0: + self.get_logger().info(f'Time remaining: {countdown_time} seconds.') + time.sleep(1) + countdown_time -= 1 + self.mode = '快速占点' + self.publish_goal_pose(7, FAST_SPEED, front, 0.8, False) + self.get_logger().info('Countdown finished. Mode changed to 快速占点.') + + # 发布目标点 + def publish_goal_pose(self, index, max_speed, angle, tolerance, rotor): + if index < 0 or index >= len(self.goal_poses): + self.get_logger().error('Invalid index') + return + + goal_pose = MoveGoal() + goal_pose.x = self.goal_poses[index]['x'] + goal_pose.y = self.goal_poses[index]['y'] + goal_pose.angle = angle + goal_pose.max_speed = max_speed + goal_pose.tolerance = tolerance + goal_pose.rotor = rotor + + # 检查新发布的目标点信息是否与上一次发布的一样 + if self.goal_index <3 or self.goal_index >6: + if self.last_goal_pose and self.last_goal_pose.x == goal_pose.x and self.last_goal_pose.y == goal_pose.y and self.last_goal_pose.angle == goal_pose.angle and self.last_goal_pose.max_speed == goal_pose.max_speed and self.last_goal_pose.tolerance == goal_pose.tolerance and self.last_goal_pose.rotor == goal_pose.rotor: + # self.get_logger().info('Goal pose is the same as the last one, not publishing.') + return + + self.publisher_.publish(goal_pose) + # time.sleep(0.2) + # self.publisher_.publish(goal_pose) + self.goal_index = index + self.last_goal_pose = goal_pose + self.get_logger().info(f'Published goal pose: {goal_pose}') + +def main(args=None): + rclpy.init(args=args) + mode_controller = ModeController() + rclpy.spin(mode_controller) + mode_controller.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/src/rm_decision/src/simple_ai.cpp b/src/rm_decision/src/simple_ai.cpp new file mode 100644 index 0000000..7150189 --- /dev/null +++ b/src/rm_decision/src/simple_ai.cpp @@ -0,0 +1,274 @@ +#include +#include +#include +#include +#include +#include +#include + +using namespace std::chrono_literals; + +const uint8_t SEARCH = 0b00010000; +const uint8_t TRACK = 0b00000000; +const uint8_t SHOOT = 0b00001000; + +const double FAST_SPEED = 10.0; +const double SLOW_SPEED = 1.0; +const double STOP_SPEED = 0.0; + +const double front = 0.0; +const double back = 3.14; +const double left = 1.57; +const double right = -1.57; + +class ModeController : public rclcpp::Node +{ +public: + ModeController() : Node("mode_controller") + { + subscription_ref_ = this->create_subscription( + "/chassis/data_ref", 10, std::bind(&ModeController::ref_callback, this, std::placeholders::_1)); + subscription_nav_ = this->create_subscription( + "chassis/data_nav", 10, std::bind(&ModeController::nav_callback, this, std::placeholders::_1)); + subscription_ai_left_ = this->create_subscription( + "gimbal_left/data_ai", 10, std::bind(&ModeController::ai_left_callback, this, std::placeholders::_1)); + subscription_ai_right_ = this->create_subscription( + "gimbal_right/data_ai", 10, std::bind(&ModeController::ai_right_callback, this, std::placeholders::_1)); + publisher_ = this->create_publisher("/goal", 10); + + goal_poses_ = { + { -0.05, -0.3 }, // 基地补给区（启动点）0 + { -0.05, 0.4 }, // 基地补给区（中心点）1 + { 3.2, -1.8 }, // 中央增益区（中心点）2 + { 3.8, -1.8 }, // 中央增益区（a点） 3 + { 3.3, -1.0 }, // 中央增益区（b点） 4 + { 2.8, -1.8 }, // 中央增益区（c点） 5 + { 3.3, -2.3 }, // 中央增益区（d点） 6 + { 2.0, -2.6 }, // 快速站模式途径点 7 + { 1.8, 0.4 }, // 回血模式途径点 8 + { 1.8, 0.4 } // 回血模式途径点 9 + }; + + game_progress_ = 0; // 4: 比赛开始 + remain_hp_ = 400; // 剩余血量 + reached_ = false; // 是否到达目标点 + mode_ = "等待比赛开始"; // 模式 + goal_index_ = 0; // 目标点索引 + last_goal_pose_ = nullptr; // 上一个目标点 + tracker_left_ = false; // 左侧是否有目标 + tracker_right_ = false; // 右侧是否有目标 + allowance_17mm_ = 750; // 17mm允许发弹量 + countdown_thread_ = nullptr; + publish_goal_pose(0, SLOW_SPEED, front, 0.1, true); + } + +private: + void ref_callback(const rm_msgs::msg::DataRef::SharedPtr msg) + { + game_progress_ = msg->game_progress; // 4: 比赛开始 // 3: 准备比赛 + remain_hp_ = msg->remain_hp; // 剩余血量 + stage_remain_time_ = msg->stage_remain_time; // 比赛时间 + update_mode(); + } + + void nav_callback(const rm_msgs::msg::DataNav::SharedPtr msg) + { + reached_ = msg->reached; // 是否到达目标点 + //快速站点： + if (goal_index_ == 7 && reached_ && mode_ == "快速占点") + { + publish_goal_pose(2, FAST_SPEED, front, 0.5, false); + } + if (goal_index_ == 2 && reached_ && mode_ == "快速占点") + { + mode_ = "站点搜敌模式"; + publish_goal_pose(3, SLOW_SPEED, front, 0.1, true); + } + //站点搜敌模式： + if (mode_ == "站点搜敌模式") + { + if (tracker_left_ || tracker_right_) + { + publish_goal_pose(goal_index_, STOP_SPEED, front, 0.1, true); + } + else + { + if (reached_) + { + goal_index_++; + if (goal_index_ > 6) + { + goal_index_ = 3; + } + publish_goal_pose(goal_index_, SLOW_SPEED, front, 0.1, true); + } + else + { + publish_goal_pose(goal_index_, SLOW_SPEED, front, 0.1, true); + } + } + } + + //站点模式： + if (mode_ == "站点模式" && reached_) + { + goal_index_++; + if (goal_index_ > 6) + { + goal_index_ = 3; + } + publish_goal_pose(goal_index_, SLOW_SPEED, front, 0.1, true); + } + + //回血模式： + if (goal_index_ == 8 && reached_ && mode_ == "回血模式") + { + publish_goal_pose(1, FAST_SPEED, front, 0.1, true); + } + if (goal_index_ == 1 && mode_ == "回血模式" && remain_hp_ >= 390) + { + publish_goal_pose(9, FAST_SPEED, front, 0.1, true); + } + if (goal_index_ == 9 && reached_ && mode_ == "回血模式") + { + publish_goal_pose(2, FAST_SPEED, front, 0.1, true); + } + if (goal_index_ == 2 && reached_ && mode_ == "回血模式") + { + if (allowance_17mm_ < 2) + { + mode_ = "站点模式"; + } + else + { + mode_ = "站点搜敌模式"; + } + publish_goal_pose(3, FAST_SPEED, front, 0.1, true); + } + } + + void ai_left_callback(const rm_msgs::msg::DataAI::SharedPtr msg) + { + if (msg->notice == SEARCH) + { + tracker_left_ = false; + } + else + { + tracker_left_ = true; + } + } + + void ai_right_callback(const rm_msgs::msg::DataAI::SharedPtr msg) + { + if (msg->notice == SEARCH) + { + tracker_right_ = false; + } + else + { + tracker_right_ = true; + } + } + + void update_mode() + { + if (game_progress_ == 4) + { + if (mode_ == "等待比赛开始") + { + mode_ = "快速占点"; + publish_goal_pose(7, FAST_SPEED, front, 0.8, false); + } + if (remain_hp_ < 200 && mode_ != "回血模式") + { + mode_ = "回血模式"; + publish_goal_pose(8, FAST_SPEED, front, 0.5, true); + } + } + else if (game_progress_ == 3) + { + if (countdown_thread_ == nullptr) + { + countdown_thread_ = std::make_shared(&ModeController::start_countdown, this, stage_remain_time_); + countdown_thread_->detach(); + } + } + else + { + mode_ = "等待比赛开始"; + } + } + + void start_countdown(int countdown_time) + { + RCLCPP_INFO(this->get_logger(), "Countdown started: %d seconds remaining.", countdown_time); + while (countdown_time > 0) + { + RCLCPP_INFO(this->get_logger(), "Time remaining: %d seconds.", countdown_time); + std::this_thread::sleep_for(1s); + countdown_time--; + } + mode_ = "快速占点"; + publish_goal_pose(7, FAST_SPEED, front, 0.8, false); + RCLCPP_INFO(this->get_logger(), "Countdown finished. Mode changed to 快速占点."); + } + + void publish_goal_pose(int index, double max_speed, double angle, double tolerance, bool rotor) + { + if (index < 0 || index >= goal_poses_.size()) + { + RCLCPP_ERROR(this->get_logger(), "Invalid index"); + return; + } + + auto goal_pose = rm_msgs::msg::Goal(); + goal_pose.x = goal_poses_[index].first; + goal_pose.y = goal_poses_[index].second; + goal_pose.angle = angle; + goal_pose.max_speed = max_speed; + goal_pose.tolerance = tolerance; + goal_pose.rotor = rotor; + + if (last_goal_pose_ && last_goal_pose_->x == goal_pose.x && last_goal_pose_->y == goal_pose.y && + last_goal_pose_->angle == goal_pose.angle && last_goal_pose_->max_speed == goal_pose.max_speed && + last_goal_pose_->tolerance == goal_pose.tolerance && last_goal_pose_->rotor == goal_pose.rotor) + { + return; + } + + publisher_->publish(goal_pose); + goal_index_ = index; + last_goal_pose_ = std::make_shared(goal_pose); + RCLCPP_INFO(this->get_logger(), "Published goal pose: x=%f, y=%f, angle=%f, max_speed=%f, tolerance=%f, rotor=%d", + goal_pose.x, goal_pose.y, goal_pose.angle, goal_pose.max_speed, goal_pose.tolerance, goal_pose.rotor); + } + + rclcpp::Subscription::SharedPtr subscription_ref_; + rclcpp::Subscription::SharedPtr subscription_nav_; + rclcpp::Subscription::SharedPtr subscription_ai_left_; + rclcpp::Subscription::SharedPtr subscription_ai_right_; + rclcpp::Publisher::SharedPtr publisher_; + + std::vector> goal_poses_; + int game_progress_; + int remain_hp_; + bool reached_; + std::string mode_; + int goal_index_; + rm_msgs::msg::Goal::SharedPtr last_goal_pose_; + bool tracker_left_; + bool tracker_right_; + int allowance_17mm_; + std::shared_ptr countdown_thread_; + int stage_remain_time_; +}; + +int main(int argc, char *argv[]) +{ + rclcpp::init(argc, argv); + auto node = std::make_shared(); + rclcpp::spin(node); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/src/rm_driver/livox_ros_driver2/.gitignore b/src/rm_driver/livox_ros_driver2/.gitignore new file mode 100644 index 0000000..429bd72 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/.gitignore @@ -0,0 +1,10 @@ +devel/ +build/ +install/ +log/ + +.vscode/ +__pycache__/ +.catkin_workspace +*.gv +*.pdf \ No newline at end of file diff --git a/src/rm_driver/livox_ros_driver2/LICENSE b/src/rm_driver/livox_ros_driver2/LICENSE new file mode 100644 index 0000000..180f9d2 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2023 ziknagXie + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/src/rm_driver/livox_ros_driver2/README.md b/src/rm_driver/livox_ros_driver2/README.md new file mode 100644 index 0000000..d93cfe3 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/README.md @@ -0,0 +1,329 @@ +# Livox ROS Driver 2 + +Livox ROS Driver 2 is the 2nd-generation driver package used to connect LiDAR products produced by Livox, applicable for ROS (noetic recommended) and ROS2 (foxy or humble recommended). + +## ATTENTION + +本仓库为深圳北理莫斯科大学北极熊战队内部修改版，非原版 livox_ros_driver2 。 + +相较于原版，修改了消息发布机制和 ```MID360_config.json``` 的 ip + +```ros2 launch msg_MID360_launch.py``` 时会同时发布 ```CustomMsg``` 和 ```PointCloud2``` 两种类型消息。 + + **Topic name** | **Type** | **Note** +:------------------------:|:-------------------------------:|:--------------: + /livox/lidar | livox_ros_driver2/msg/CustomMsg | mid360 自定义消息类型 + /livox/lidar/pointcloud | sensor_msgs/msg/PointCloud2 | ROS2 点云消息格式 + /livox/imu | sensor_msgs/msg/Imu | mid360 机内 imu + +## 1. Preparation + +### 1.1 OS requirements + + * Ubuntu 22.04 for ROS2 Humble; + + **Tips:** + + Colcon is a build tool used in ROS2. + + How to install colcon: [Colcon installation instructions](https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html) + +### 1.2 Install ROS2 Humble + +For ROS2 Humble installation, please refer to: +[ROS Humble installation instructions](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) + +Desktop-Full installation is recommend. + +## 2. Build & Run Livox ROS Driver 2 + +### 2.1 Clone Livox ROS Driver 2 source code: + +```shell +git clone https://gitee.com/SMBU-POLARBEAR/livox_ros_driver2_humble.git +``` + + **Note :** + + Be sure to clone the source code in a '[work_space]/src/' folder (as shown above), otherwise compilation errors will occur due to the compilation tool restriction. + +### 2.2 Build & install the Livox-SDK2 + + **Note :** + + Please follow the guidance of installation in the [Livox-SDK2/README.md](https://github.com/Livox-SDK/Livox-SDK2/blob/master/README.md) + +### 2.3 Build the Livox ROS Driver 2: + +### For ROS2 Humble: +```shell +colcon build --symlink-install +``` + +### 2.4 Run Livox ROS Driver 2: + +```shell +source install/setup.sh +ros2 launch livox_ros_driver2 [launch file] +``` + +in which, + +* **[launch file]** : is the ROS2 launch file you want to use; the 'launch_ROS2' folder contains several launch samples for your reference. + +A rviz launch example for HAP LiDAR would be: + +```shell +ros2 launch livox_ros_driver2 rviz_HAP_launch.py +``` + +## 3. Launch file and livox_ros_driver2 internal parameter configuration instructions + +### 3.1 Launch file configuration instructions + +Launch files of ROS are in the "ws_livox/src/livox_ros_driver2/launch_ROS1" directory and launch files of ROS2 are in the "ws_livox/src/livox_ros_driver2/launch_ROS2" directory. Different launch files have different configuration parameter values and are used in different scenarios: + +| launch file name | Description | +| ------------------------- | ------------------------------------------------------------ | +| rviz_HAP.launch | Connect to HAP LiDAR device
Publish pointcloud2 format data
Autoload rviz | +| msg_HAP.launch | Connect to HAP LiDAR device
Publish livox customized pointcloud data| +| rviz_MID360.launch | Connect to MID360 LiDAR device
Publish pointcloud2 format data
Autoload rviz| +| msg_MID360.launch | Connect to MID360 LiDAR device
Publish livox customized pointcloud data | +| rviz_mixed.launch | Connect to HAP and MID360 LiDAR device
Publish pointcloud2 format data
Autoload rviz| +| msg_mixed.launch | Connect to HAP and MID360 LiDAR device
Publish livox customized pointcloud data | + +### 3.2 Livox ros driver 2 internal main parameter configuration instructions + +All internal parameters of Livox_ros_driver2 are in the launch file. Below are detailed descriptions of the three commonly used parameters : + +| Parameter | Detailed description | Default | +| ------------ | ------------------------------------------------------------ | ------- | +| publish_freq | Set the frequency of point cloud publish
Floating-point data type, recommended values 5.0, 10.0, 20.0, 50.0, etc. The maximum publish frequency is 100.0 Hz.| 10.0 | +| multi_topic | If the LiDAR device has an independent topic to publish pointcloud data
0 -- All LiDAR devices use the same topic to publish pointcloud data
1 -- Each LiDAR device has its own topic to publish point cloud data | 0 | +| xfer_format | Set pointcloud format
0 -- Livox pointcloud2(PointXYZRTLT) pointcloud format
1 -- Livox customized pointcloud format
2 -- Standard pointcloud2 (pcl :: PointXYZI) pointcloud format in the PCL library (just for ROS) | 0 | + + **Note :** + + Other parameters not mentioned in this table are not suggested to be changed unless fully understood. + +    ***Livox_ros_driver2 pointcloud data detailed description :*** + +1. Livox pointcloud2 (PointXYZRTLT) point cloud format, as follows : + +```c +float32 x # X axis, unit:m +float32 y # Y axis, unit:m +float32 z # Z axis, unit:m +float32 intensity # the value is reflectivity, 0.0~255.0 +uint8 tag # livox tag +uint8 line # laser number in lidar +float64 timestamp # Timestamp of point +``` + **Note :** + + The number of points in the frame may be different, but each point provides a timestamp. + +2. Livox customized data package format, as follows : + +```c +std_msgs/Header header # ROS standard message header +uint64 timebase # The time of first point +uint32 point_num # Total number of pointclouds +uint8 lidar_id # Lidar device id number +uint8[3] rsvd # Reserved use +CustomPoint[] points # Pointcloud data +``` + +    Customized Point Cloud (CustomPoint) format in the above customized data package : + +```c +uint32 offset_time # offset time relative to the base time +float32 x # X axis, unit:m +float32 y # Y axis, unit:m +float32 z # Z axis, unit:m +uint8 reflectivity # reflectivity, 0~255 +uint8 tag # livox tag +uint8 line # laser number in lidar +``` + +3. The standard pointcloud2 (pcl :: PointXYZI) format in the PCL library (only ROS can publish): + +    Please refer to the pcl :: PointXYZI data structure in the point_types.hpp file of the PCL library. + +## 4. LiDAR config + +LiDAR Configurations (such as ip, port, data type... etc.) can be set via a json-style config file. Config files for single HAP, Mid360 and mixed-LiDARs are in the "config" folder. The parameter naming *'user_config_path'* in launch files indicates such json file path. + +1. Follow is a configuration example for HAP LiDAR (located in config/HAP_config.json): + +```json +{ + "lidar_summary_info" : { + "lidar_type": 8 # protocol type index, please don't revise this value + }, + "HAP": { + "device_type" : "HAP", + "lidar_ipaddr": "", + "lidar_net_info" : { + "cmd_data_port": 56000, # command port + "push_msg_port": 0, + "point_data_port": 57000, + "imu_data_port": 58000, + "log_data_port": 59000 + }, + "host_net_info" : { + "cmd_data_ip" : "192.168.1.5", # host ip (it can be revised) + "cmd_data_port": 56000, + "push_msg_ip": "", + "push_msg_port": 0, + "point_data_ip": "192.168.1.5", # host ip + "point_data_port": 57000, + "imu_data_ip" : "192.168.1.5", # host ip + "imu_data_port": 58000, + "log_data_ip" : "", + "log_data_port": 59000 + } + }, + "lidar_configs" : [ + { + "ip" : "192.168.1.100", # ip of the LiDAR you want to config + "pcl_data_type" : 1, + "pattern_mode" : 0, + "blind_spot_set" : 50, + "extrinsic_parameter" : { + "roll": 0.0, + "pitch": 0.0, + "yaw": 0.0, + "x": 0, + "y": 0, + "z": 0 + } + } + ] +} +``` + +The parameter attributes in the above json file are described in the following table : + +**LiDAR configuration parameter** +| Parameter | Type | Description | Default | +| :------------------------- | ------- | ------------------------------------------------------------ | --------------- | +| ip | String | Ip of the LiDAR you want to config | 192.168.1.100 | +| pcl_data_type | Int | Choose the resolution of the point cloud data to send
1 -- Cartesian coordinate data (32 bits)
2 -- Cartesian coordinate data (16 bits)
3 --Spherical coordinate data| 1 | +| pattern_mode | Int | Space scan pattern
0 -- non-repeating scanning pattern mode
1 -- repeating scanning pattern mode
2 -- repeating scanning pattern mode (low scanning rate) | 0 | +| blind_spot_set (Only for HAP LiDAR) | Int | Set blind spot
Range from 50 cm to 200 cm | 50 | +| extrinsic_parameter | | Set extrinsic parameter
The data types of "roll" "picth" "yaw" are float
The data types of "x" "y" "z" are int
| + +For more infomation about the HAP config, please refer to: +[HAP Config File Description](https://github.com/Livox-SDK/Livox-SDK2/wiki/hap-config-file-description) + +2. When connecting multiple LiDARs, add objects corresponding to different LiDARs to the "lidar_configs" array. Examples of mixed-LiDARs config file contents are as follows : + +```json +{ + "lidar_summary_info" : { + "lidar_type": 8 # protocol type index, please don't revise this value + }, + "HAP": { + "lidar_net_info" : { # HAP ports, please don't revise these values + "cmd_data_port": 56000, # HAP command port + "push_msg_port": 0, + "point_data_port": 57000, + "imu_data_port": 58000, + "log_data_port": 59000 + }, + "host_net_info" : { + "cmd_data_ip" : "192.168.1.5", # host ip + "cmd_data_port": 56000, + "push_msg_ip": "", + "push_msg_port": 0, + "point_data_ip": "192.168.1.5", # host ip + "point_data_port": 57000, + "imu_data_ip" : "192.168.1.5", # host ip + "imu_data_port": 58000, + "log_data_ip" : "", + "log_data_port": 59000 + } + }, + "MID360": { + "lidar_net_info" : { # Mid360 ports, please don't revise these values + "cmd_data_port": 56100, # Mid360 command port + "push_msg_port": 56200, + "point_data_port": 56300, + "imu_data_port": 56400, + "log_data_port": 56500 + }, + "host_net_info" : { + "cmd_data_ip" : "192.168.1.5", # host ip + "cmd_data_port": 56101, + "push_msg_ip": "192.168.1.5", # host ip + "push_msg_port": 56201, + "point_data_ip": "192.168.1.5", # host ip + "point_data_port": 56301, + "imu_data_ip" : "192.168.1.5", # host ip + "imu_data_port": 56401, + "log_data_ip" : "", + "log_data_port": 56501 + } + }, + "lidar_configs" : [ + { + "ip" : "192.168.1.100", # ip of the HAP you want to config + "pcl_data_type" : 1, + "pattern_mode" : 0, + "blind_spot_set" : 50, + "extrinsic_parameter" : { + "roll": 0.0, + "pitch": 0.0, + "yaw": 0.0, + "x": 0, + "y": 0, + "z": 0 + } + }, + { + "ip" : "192.168.1.12", # ip of the Mid360 you want to config + "pcl_data_type" : 1, + "pattern_mode" : 0, + "extrinsic_parameter" : { + "roll": 0.0, + "pitch": 0.0, + "yaw": 0.0, + "x": 0, + "y": 0, + "z": 0 + } + } + ] +} +``` + +## 5. Supported LiDAR list + +* HAP +* Mid360 +* (more types are comming soon...) + +## 6. FAQ + +### 6.1 launch with "livox_lidar_rviz_HAP.launch" but no point cloud display on the grid? + +Please check the "Global Options - Fixed Frame" field in the RViz "Display" pannel. Set the field value to "livox_frame" and check the "PointCloud2" option in the pannel. + +### 6.2 launch with command "ros2 launch livox_lidar_rviz_HAP_launch.py" but cannot open shared object file "liblivox_sdk_shared.so" ? + +Please add '/usr/local/lib' to the env LD_LIBRARY_PATH. + +* If you want to add to current terminal: + + ```shell + export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/lib + ``` + +* If you want to add to current user: + + ```shell + vim ~/.bashrc + export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/lib + source ~/.bashrc + ``` diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/allocators.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/allocators.h new file mode 100644 index 0000000..03010d5 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/allocators.h @@ -0,0 +1,308 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_ALLOCATORS_H_ +#define RAPIDJSON_ALLOCATORS_H_ + +#include "rapidjson.h" + +RAPIDJSON_NAMESPACE_BEGIN + +/////////////////////////////////////////////////////////////////////////////// +// Allocator + +/*! \class rapidjson::Allocator + \brief Concept for allocating, resizing and freeing memory block. + + Note that Malloc() and Realloc() are non-static but Free() is static. + + So if an allocator need to support Free(), it needs to put its pointer in + the header of memory block. + +\code +concept Allocator { + static const bool kNeedFree; //!< Whether this allocator needs to call +Free(). + + // Allocate a memory block. + // \param size of the memory block in bytes. + // \returns pointer to the memory block. + void* Malloc(size_t size); + + // Resize a memory block. + // \param originalPtr The pointer to current memory block. Null pointer is +permitted. + // \param originalSize The current size in bytes. (Design issue: since some +allocator may not book-keep this, explicitly pass to it can save memory.) + // \param newSize the new size in bytes. + void* Realloc(void* originalPtr, size_t originalSize, size_t newSize); + + // Free a memory block. + // \param pointer to the memory block. Null pointer is permitted. + static void Free(void *ptr); +}; +\endcode +*/ + +/*! \def RAPIDJSON_ALLOCATOR_DEFAULT_CHUNK_CAPACITY + \ingroup RAPIDJSON_CONFIG + \brief User-defined kDefaultChunkCapacity definition. + + User can define this as any \c size that is a power of 2. +*/ + +#ifndef RAPIDJSON_ALLOCATOR_DEFAULT_CHUNK_CAPACITY +#define RAPIDJSON_ALLOCATOR_DEFAULT_CHUNK_CAPACITY (64 * 1024) +#endif + +/////////////////////////////////////////////////////////////////////////////// +// CrtAllocator + +//! C-runtime library allocator. +/*! This class is just wrapper for standard C library memory routines. + \note implements Allocator concept +*/ +class CrtAllocator { + public: + static const bool kNeedFree = true; + void *Malloc(size_t size) { + if (size) // behavior of malloc(0) is implementation defined. + return std::malloc(size); + else + return NULL; // standardize to returning NULL. + } + void *Realloc(void *originalPtr, size_t originalSize, size_t newSize) { + (void)originalSize; + if (newSize == 0) { + std::free(originalPtr); + return NULL; + } + return std::realloc(originalPtr, newSize); + } + static void Free(void *ptr) { std::free(ptr); } +}; + +/////////////////////////////////////////////////////////////////////////////// +// MemoryPoolAllocator + +//! Default memory allocator used by the parser and DOM. +/*! This allocator allocate memory blocks from pre-allocated memory chunks. + + It does not free memory blocks. And Realloc() only allocate new memory. + + The memory chunks are allocated by BaseAllocator, which is CrtAllocator by + default. + + User may also supply a buffer as the first chunk. + + If the user-buffer is full then additional chunks are allocated by + BaseAllocator. + + The user-buffer is not deallocated by this allocator. + + \tparam BaseAllocator the allocator type for allocating memory chunks. + Default is CrtAllocator. \note implements Allocator concept +*/ +template +class MemoryPoolAllocator { + public: + static const bool kNeedFree = + false; //!< Tell users that no need to call Free() with this allocator. + //!< (concept Allocator) + + //! Constructor with chunkSize. + /*! \param chunkSize The size of memory chunk. The default is + kDefaultChunkSize. \param baseAllocator The allocator for allocating memory + chunks. + */ + MemoryPoolAllocator(size_t chunkSize = kDefaultChunkCapacity, + BaseAllocator *baseAllocator = 0) + : chunkHead_(0), + chunk_capacity_(chunkSize), + userBuffer_(0), + baseAllocator_(baseAllocator), + ownBaseAllocator_(0) {} + + //! Constructor with user-supplied buffer. + /*! The user buffer will be used firstly. When it is full, memory pool + allocates new chunk with chunk size. + + The user buffer will not be deallocated when this allocator is destructed. + + \param buffer User supplied buffer. + \param size Size of the buffer in bytes. It must at least larger than + sizeof(ChunkHeader). \param chunkSize The size of memory chunk. The default + is kDefaultChunkSize. \param baseAllocator The allocator for allocating + memory chunks. + */ + MemoryPoolAllocator(void *buffer, size_t size, + size_t chunkSize = kDefaultChunkCapacity, + BaseAllocator *baseAllocator = 0) + : chunkHead_(0), + chunk_capacity_(chunkSize), + userBuffer_(buffer), + baseAllocator_(baseAllocator), + ownBaseAllocator_(0) { + RAPIDJSON_ASSERT(buffer != 0); + RAPIDJSON_ASSERT(size > sizeof(ChunkHeader)); + chunkHead_ = reinterpret_cast(buffer); + chunkHead_->capacity = size - sizeof(ChunkHeader); + chunkHead_->size = 0; + chunkHead_->next = 0; + } + + //! Destructor. + /*! This deallocates all memory chunks, excluding the user-supplied buffer. + */ + ~MemoryPoolAllocator() { + Clear(); + RAPIDJSON_DELETE(ownBaseAllocator_); + } + + //! Deallocates all memory chunks, excluding the user-supplied buffer. + void Clear() { + while (chunkHead_ && chunkHead_ != userBuffer_) { + ChunkHeader *next = chunkHead_->next; + baseAllocator_->Free(chunkHead_); + chunkHead_ = next; + } + if (chunkHead_ && chunkHead_ == userBuffer_) + chunkHead_->size = 0; // Clear user buffer + } + + //! Computes the total capacity of allocated memory chunks. + /*! \return total capacity in bytes. + */ + size_t Capacity() const { + size_t capacity = 0; + for (ChunkHeader *c = chunkHead_; c != 0; c = c->next) + capacity += c->capacity; + return capacity; + } + + //! Computes the memory blocks allocated. + /*! \return total used bytes. + */ + size_t Size() const { + size_t size = 0; + for (ChunkHeader *c = chunkHead_; c != 0; c = c->next) size += c->size; + return size; + } + + //! Allocates a memory block. (concept Allocator) + void *Malloc(size_t size) { + if (!size) return NULL; + + size = RAPIDJSON_ALIGN(size); + if (chunkHead_ == 0 || chunkHead_->size + size > chunkHead_->capacity) + if (!AddChunk(chunk_capacity_ > size ? chunk_capacity_ : size)) + return NULL; + + void *buffer = reinterpret_cast(chunkHead_) + + RAPIDJSON_ALIGN(sizeof(ChunkHeader)) + chunkHead_->size; + chunkHead_->size += size; + return buffer; + } + + //! Resizes a memory block (concept Allocator) + void *Realloc(void *originalPtr, size_t originalSize, size_t newSize) { + if (originalPtr == 0) return Malloc(newSize); + + if (newSize == 0) return NULL; + + originalSize = RAPIDJSON_ALIGN(originalSize); + newSize = RAPIDJSON_ALIGN(newSize); + + // Do not shrink if new size is smaller than original + if (originalSize >= newSize) return originalPtr; + + // Simply expand it if it is the last allocation and there is sufficient + // space + if (originalPtr == + reinterpret_cast(chunkHead_) + + RAPIDJSON_ALIGN(sizeof(ChunkHeader)) + chunkHead_->size - + originalSize) { + size_t increment = static_cast(newSize - originalSize); + if (chunkHead_->size + increment <= chunkHead_->capacity) { + chunkHead_->size += increment; + return originalPtr; + } + } + + // Realloc process: allocate and copy memory, do not free original buffer. + if (void *newBuffer = Malloc(newSize)) { + if (originalSize) std::memcpy(newBuffer, originalPtr, originalSize); + return newBuffer; + } else + return NULL; + } + + //! Frees a memory block (concept Allocator) + static void Free(void *ptr) { (void)ptr; } // Do nothing + + private: + //! Copy constructor is not permitted. + MemoryPoolAllocator(const MemoryPoolAllocator &rhs) /* = delete */; + //! Copy assignment operator is not permitted. + MemoryPoolAllocator &operator=(const MemoryPoolAllocator &rhs) /* = delete */; + + //! Creates a new chunk. + /*! \param capacity Capacity of the chunk in bytes. + \return true if success. + */ + bool AddChunk(size_t capacity) { + if (!baseAllocator_) + ownBaseAllocator_ = baseAllocator_ = RAPIDJSON_NEW(BaseAllocator)(); + if (ChunkHeader *chunk = + reinterpret_cast(baseAllocator_->Malloc( + RAPIDJSON_ALIGN(sizeof(ChunkHeader)) + capacity))) { + chunk->capacity = capacity; + chunk->size = 0; + chunk->next = chunkHead_; + chunkHead_ = chunk; + return true; + } else + return false; + } + + static const int kDefaultChunkCapacity = + RAPIDJSON_ALLOCATOR_DEFAULT_CHUNK_CAPACITY; //!< Default chunk capacity. + + //! Chunk header for perpending to each chunk. + /*! Chunks are stored as a singly linked list. + */ + struct ChunkHeader { + size_t capacity; //!< Capacity of the chunk in bytes (excluding the header + //!< itself). + size_t size; //!< Current size of allocated memory in bytes. + ChunkHeader *next; //!< Next chunk in the linked list. + }; + + ChunkHeader *chunkHead_; //!< Head of the chunk linked-list. Only the head + //!< chunk serves allocation. + size_t chunk_capacity_; //!< The minimum capacity of chunk when they are + //!< allocated. + void *userBuffer_; //!< User supplied buffer. + BaseAllocator + *baseAllocator_; //!< base allocator for allocating memory chunks. + BaseAllocator *ownBaseAllocator_; //!< base allocator created by this object. +}; + +RAPIDJSON_NAMESPACE_END + +#endif // RAPIDJSON_ENCODINGS_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/cursorstreamwrapper.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/cursorstreamwrapper.h new file mode 100644 index 0000000..045ddb8 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/cursorstreamwrapper.h @@ -0,0 +1,81 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_CURSORSTREAMWRAPPER_H_ +#define RAPIDJSON_CURSORSTREAMWRAPPER_H_ + +#include "stream.h" + +#if defined(__GNUC__) +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(effc++) +#endif + +#if defined(_MSC_VER) && _MSC_VER <= 1800 +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(4702) // unreachable code +RAPIDJSON_DIAG_OFF(4512) // assignment operator could not be generated +#endif + +RAPIDJSON_NAMESPACE_BEGIN + +//! Cursor stream wrapper for counting line and column number if error exists. +/*! + \tparam InputStream Any stream that implements Stream Concept +*/ +template > +class CursorStreamWrapper : public GenericStreamWrapper { + public: + typedef typename Encoding::Ch Ch; + + CursorStreamWrapper(InputStream &is) + : GenericStreamWrapper(is), line_(1), col_(0) {} + + // counting line and column number + Ch Take() { + Ch ch = this->is_.Take(); + if (ch == '\n') { + line_++; + col_ = 0; + } else { + col_++; + } + return ch; + } + + //! Get the error line number, if error exists. + size_t GetLine() const { return line_; } + //! Get the error column number, if error exists. + size_t GetColumn() const { return col_; } + + private: + size_t line_; //!< Current Line + size_t col_; //!< Current Column +}; + +#if defined(_MSC_VER) && _MSC_VER <= 1800 +RAPIDJSON_DIAG_POP +#endif + +#if defined(__GNUC__) +RAPIDJSON_DIAG_POP +#endif + +RAPIDJSON_NAMESPACE_END + +#endif // RAPIDJSON_CURSORSTREAMWRAPPER_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/document.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/document.h new file mode 100644 index 0000000..27addb7 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/document.h @@ -0,0 +1,3309 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_DOCUMENT_H_ +#define RAPIDJSON_DOCUMENT_H_ + +/*! \file document.h */ + +#include +#include // placement new +#include "encodedstream.h" +#include "internal/meta.h" +#include "internal/strfunc.h" +#include "memorystream.h" +#include "reader.h" + +RAPIDJSON_DIAG_PUSH +#ifdef __clang__ +RAPIDJSON_DIAG_OFF(padded) +RAPIDJSON_DIAG_OFF(switch - enum) +RAPIDJSON_DIAG_OFF(c++ 98 - compat) +#elif defined(_MSC_VER) +RAPIDJSON_DIAG_OFF(4127) // conditional expression is constant +RAPIDJSON_DIAG_OFF( + 4244) // conversion from kXxxFlags to 'uint16_t', possible loss of data +#endif + +#ifdef __GNUC__ +RAPIDJSON_DIAG_OFF(effc++) +#endif // __GNUC__ + +#ifndef RAPIDJSON_NOMEMBERITERATORCLASS +#include // std::random_access_iterator_tag +#endif + +#if RAPIDJSON_HAS_CXX11_RVALUE_REFS +#include // std::move +#endif + +RAPIDJSON_NAMESPACE_BEGIN + +// Forward declaration. +template +class GenericValue; + +template +class GenericDocument; + +//! Name-value pair in a JSON object value. +/*! + This class was internal to GenericValue. It used to be a inner struct. + But a compiler (IBM XL C/C++ for AIX) have reported to have problem with + that so it moved as a namespace scope struct. + https://code.google.com/p/rapidjson/issues/detail?id=64 +*/ +template +class GenericMember { + public: + GenericValue + name; //!< name of member (must be a string) + GenericValue value; //!< value of member. + +#if RAPIDJSON_HAS_CXX11_RVALUE_REFS + //! Move constructor in C++11 + GenericMember(GenericMember &&rhs) RAPIDJSON_NOEXCEPT + : name(std::move(rhs.name)), + value(std::move(rhs.value)) {} + + //! Move assignment in C++11 + GenericMember &operator=(GenericMember &&rhs) RAPIDJSON_NOEXCEPT { + return *this = static_cast(rhs); + } +#endif + + //! Assignment with move semantics. + /*! \param rhs Source of the assignment. Its name and value will become a null + * value after assignment. + */ + GenericMember &operator=(GenericMember &rhs) RAPIDJSON_NOEXCEPT { + if (RAPIDJSON_LIKELY(this != &rhs)) { + name = rhs.name; + value = rhs.value; + } + return *this; + } + + // swap() for std::sort() and other potential use in STL. + friend inline void swap(GenericMember &a, + GenericMember &b) RAPIDJSON_NOEXCEPT { + a.name.Swap(b.name); + a.value.Swap(b.value); + } + + private: + //! Copy constructor is not permitted. + GenericMember(const GenericMember &rhs); +}; + +/////////////////////////////////////////////////////////////////////////////// +// GenericMemberIterator + +#ifndef RAPIDJSON_NOMEMBERITERATORCLASS + +//! (Constant) member iterator for a JSON object value +/*! + \tparam Const Is this a constant iterator? + \tparam Encoding Encoding of the value. (Even non-string values need to + have the same encoding in a document) \tparam Allocator Allocator type for + allocating memory of object, array and string. + + This class implements a Random Access Iterator for GenericMember elements + of a GenericValue, see ISO/IEC 14882:2003(E) C++ standard, 24.1 + [lib.iterator.requirements]. + + \note This iterator implementation is mainly intended to avoid implicit + conversions from iterator values to \c NULL, + e.g. from GenericValue::FindMember. + + \note Define \c RAPIDJSON_NOMEMBERITERATORCLASS to fall back to a + pointer-based implementation, if your platform doesn't provide + the C++ header. + + \see GenericMember, GenericValue::MemberIterator, + GenericValue::ConstMemberIterator + */ +template +class GenericMemberIterator { + friend class GenericValue; + template + friend class GenericMemberIterator; + + typedef GenericMember PlainType; + typedef typename internal::MaybeAddConst::Type ValueType; + + public: + //! Iterator type itself + typedef GenericMemberIterator Iterator; + //! Constant iterator type + typedef GenericMemberIterator ConstIterator; + //! Non-constant iterator type + typedef GenericMemberIterator NonConstIterator; + + /** \name std::iterator_traits support */ + //@{ + typedef ValueType value_type; + typedef ValueType *pointer; + typedef ValueType &reference; + typedef std::ptrdiff_t difference_type; + typedef std::random_access_iterator_tag iterator_category; + //@} + + //! Pointer to (const) GenericMember + typedef pointer Pointer; + //! Reference to (const) GenericMember + typedef reference Reference; + //! Signed integer type (e.g. \c ptrdiff_t) + typedef difference_type DifferenceType; + + //! Default constructor (singular value) + /*! Creates an iterator pointing to no element. + \note All operations, except for comparisons, are undefined on such + values. + */ + GenericMemberIterator() : ptr_() {} + + //! Iterator conversions to more const + /*! + \param it (Non-const) iterator to copy from + + Allows the creation of an iterator from another GenericMemberIterator + that is "less const". Especially, creating a non-constant iterator + from a constant iterator are disabled: + \li const -> non-const (not ok) + \li const -> const (ok) + \li non-const -> const (ok) + \li non-const -> non-const (ok) + + \note If the \c Const template parameter is already \c false, this + constructor effectively defines a regular copy-constructor. + Otherwise, the copy constructor is implicitly defined. + */ + GenericMemberIterator(const NonConstIterator &it) : ptr_(it.ptr_) {} + Iterator &operator=(const NonConstIterator &it) { + ptr_ = it.ptr_; + return *this; + } + + //! @name stepping + //@{ + Iterator &operator++() { + ++ptr_; + return *this; + } + Iterator &operator--() { + --ptr_; + return *this; + } + Iterator operator++(int) { + Iterator old(*this); + ++ptr_; + return old; + } + Iterator operator--(int) { + Iterator old(*this); + --ptr_; + return old; + } + //@} + + //! @name increment/decrement + //@{ + Iterator operator+(DifferenceType n) const { return Iterator(ptr_ + n); } + Iterator operator-(DifferenceType n) const { return Iterator(ptr_ - n); } + + Iterator &operator+=(DifferenceType n) { + ptr_ += n; + return *this; + } + Iterator &operator-=(DifferenceType n) { + ptr_ -= n; + return *this; + } + //@} + + //! @name relations + //@{ + bool operator==(ConstIterator that) const { return ptr_ == that.ptr_; } + bool operator!=(ConstIterator that) const { return ptr_ != that.ptr_; } + bool operator<=(ConstIterator that) const { return ptr_ <= that.ptr_; } + bool operator>=(ConstIterator that) const { return ptr_ >= that.ptr_; } + bool operator<(ConstIterator that) const { return ptr_ < that.ptr_; } + bool operator>(ConstIterator that) const { return ptr_ > that.ptr_; } + //@} + + //! @name dereference + //@{ + Reference operator*() const { return *ptr_; } + Pointer operator->() const { return ptr_; } + Reference operator[](DifferenceType n) const { return ptr_[n]; } + //@} + + //! Distance + DifferenceType operator-(ConstIterator that) const { + return ptr_ - that.ptr_; + } + + private: + //! Internal constructor from plain pointer + explicit GenericMemberIterator(Pointer p) : ptr_(p) {} + + Pointer ptr_; //!< raw pointer +}; + +#else // RAPIDJSON_NOMEMBERITERATORCLASS + +// class-based member iterator implementation disabled, use plain pointers + +template +class GenericMemberIterator; + +//! non-const GenericMemberIterator +template +class GenericMemberIterator { + //! use plain pointer as iterator type + typedef GenericMember *Iterator; +}; +//! const GenericMemberIterator +template +class GenericMemberIterator { + //! use plain const pointer as iterator type + typedef const GenericMember *Iterator; +}; + +#endif // RAPIDJSON_NOMEMBERITERATORCLASS + +/////////////////////////////////////////////////////////////////////////////// +// GenericStringRef + +//! Reference to a constant string (not taking a copy) +/*! + \tparam CharType character type of the string + + This helper class is used to automatically infer constant string + references for string literals, especially from \c const \b (!) + character arrays. + + The main use is for creating JSON string values without copying the + source string via an \ref Allocator. This requires that the referenced + string pointers have a sufficient lifetime, which exceeds the lifetime + of the associated GenericValue. + + \b Example + \code + Value v("foo"); // ok, no need to copy & calculate length + const char foo[] = "foo"; + v.SetString(foo); // ok + + const char* bar = foo; + // Value x(bar); // not ok, can't rely on bar's lifetime + Value x(StringRef(bar)); // lifetime explicitly guaranteed by user + Value y(StringRef(bar, 3)); // ok, explicitly pass length + \endcode + + \see StringRef, GenericValue::SetString +*/ +template +struct GenericStringRef { + typedef CharType Ch; //!< character type of the string + +//! Create string reference from \c const character array +#ifndef __clang__ // -Wdocumentation + /*! + This constructor implicitly creates a constant string reference from + a \c const character array. It has better performance than + \ref StringRef(const CharType*) by inferring the string \ref length + from the array length, and also supports strings containing null + characters. + + \tparam N length of the string, automatically inferred + + \param str Constant character array, lifetime assumed to be longer + than the use of the string in e.g. a GenericValue + + \post \ref s == str + + \note Constant complexity. + \note There is a hidden, private overload to disallow references to + non-const character arrays to be created via this constructor. + By this, e.g. function-scope arrays used to be filled via + \c snprintf are excluded from consideration. + In such cases, the referenced string should be \b copied to the + GenericValue instead. + */ +#endif + template + GenericStringRef(const CharType (&str)[N]) RAPIDJSON_NOEXCEPT + : s(str), + length(N - 1) {} + +//! Explicitly create string reference from \c const character pointer +#ifndef __clang__ // -Wdocumentation + /*! + This constructor can be used to \b explicitly create a reference to + a constant string pointer. + + \see StringRef(const CharType*) + + \param str Constant character pointer, lifetime assumed to be longer + than the use of the string in e.g. a GenericValue + + \post \ref s == str + + \note There is a hidden, private overload to disallow references to + non-const character arrays to be created via this constructor. + By this, e.g. function-scope arrays used to be filled via + \c snprintf are excluded from consideration. + In such cases, the referenced string should be \b copied to the + GenericValue instead. + */ +#endif + explicit GenericStringRef(const CharType *str) + : s(str), length(NotNullStrLen(str)) {} + +//! Create constant string reference from pointer and length +#ifndef __clang__ // -Wdocumentation +/*! \param str constant string, lifetime assumed to be longer than the use of + the string in e.g. a GenericValue \param len length of the string, + excluding the trailing NULL terminator + + \post \ref s == str && \ref length == len + \note Constant complexity. + */ +#endif + GenericStringRef(const CharType *str, SizeType len) + : s(RAPIDJSON_LIKELY(str) ? str : emptyString), length(len) { + RAPIDJSON_ASSERT(str != 0 || len == 0u); + } + + GenericStringRef(const GenericStringRef &rhs) + : s(rhs.s), length(rhs.length) {} + + //! implicit conversion to plain CharType pointer + operator const Ch *() const { return s; } + + const Ch *const s; //!< plain CharType pointer + const SizeType length; //!< length of the string (excluding the trailing NULL + //!terminator) + + private: + SizeType NotNullStrLen(const CharType *str) { + RAPIDJSON_ASSERT(str != 0); + return internal::StrLen(str); + } + + /// Empty string - used when passing in a NULL pointer + static const Ch emptyString[]; + + //! Disallow construction from non-const array + template + GenericStringRef(CharType (&str)[N]) /* = delete */; + //! Copy assignment operator not permitted - immutable type + GenericStringRef &operator=(const GenericStringRef &rhs) /* = delete */; +}; + +template +const CharType GenericStringRef::emptyString[] = {CharType()}; + +//! Mark a character pointer as constant string +/*! Mark a plain character pointer as a "string literal". This function + can be used to avoid copying a character string to be referenced as a + value in a JSON GenericValue object, if the string's lifetime is known + to be valid long enough. + \tparam CharType Character type of the string + \param str Constant string, lifetime assumed to be longer than the use of + the string in e.g. a GenericValue \return GenericStringRef string reference + object \relatesalso GenericStringRef + + \see GenericValue::GenericValue(StringRefType), + GenericValue::operator=(StringRefType), + GenericValue::SetString(StringRefType), GenericValue::PushBack(StringRefType, + Allocator&), GenericValue::AddMember +*/ +template +inline GenericStringRef StringRef(const CharType *str) { + return GenericStringRef(str); +} + +//! Mark a character pointer as constant string +/*! Mark a plain character pointer as a "string literal". This function + can be used to avoid copying a character string to be referenced as a + value in a JSON GenericValue object, if the string's lifetime is known + to be valid long enough. + + This version has better performance with supplied length, and also + supports string containing null characters. + + \tparam CharType character type of the string + \param str Constant string, lifetime assumed to be longer than the use of + the string in e.g. a GenericValue \param length The length of source string. + \return GenericStringRef string reference object + \relatesalso GenericStringRef +*/ +template +inline GenericStringRef StringRef(const CharType *str, + size_t length) { + return GenericStringRef(str, SizeType(length)); +} + +#if RAPIDJSON_HAS_STDSTRING +//! Mark a string object as constant string +/*! Mark a string object (e.g. \c std::string) as a "string literal". + This function can be used to avoid copying a string to be referenced as a + value in a JSON GenericValue object, if the string's lifetime is known + to be valid long enough. + + \tparam CharType character type of the string + \param str Constant string, lifetime assumed to be longer than the use of + the string in e.g. a GenericValue \return GenericStringRef string reference + object \relatesalso GenericStringRef \note Requires the definition of the + preprocessor symbol \ref RAPIDJSON_HAS_STDSTRING. +*/ +template +inline GenericStringRef StringRef( + const std::basic_string &str) { + return GenericStringRef(str.data(), SizeType(str.size())); +} +#endif + +/////////////////////////////////////////////////////////////////////////////// +// GenericValue type traits +namespace internal { + +template +struct IsGenericValueImpl : FalseType {}; + +// select candidates according to nested encoding and allocator types +template +struct IsGenericValueImpl::Type, + typename Void::Type> + : IsBaseOf< + GenericValue, + T>::Type {}; + +// helper to match arbitrary GenericValue instantiations, including derived +// classes +template +struct IsGenericValue : IsGenericValueImpl::Type {}; + +} // namespace internal + +/////////////////////////////////////////////////////////////////////////////// +// TypeHelper + +namespace internal { + +template +struct TypeHelper {}; + +template +struct TypeHelper { + static bool Is(const ValueType &v) { return v.IsBool(); } + static bool Get(const ValueType &v) { return v.GetBool(); } + static ValueType &Set(ValueType &v, bool data) { return v.SetBool(data); } + static ValueType &Set(ValueType &v, bool data, + typename ValueType::AllocatorType &) { + return v.SetBool(data); + } +}; + +template +struct TypeHelper { + static bool Is(const ValueType &v) { return v.IsInt(); } + static int Get(const ValueType &v) { return v.GetInt(); } + static ValueType &Set(ValueType &v, int data) { return v.SetInt(data); } + static ValueType &Set(ValueType &v, int data, + typename ValueType::AllocatorType &) { + return v.SetInt(data); + } +}; + +template +struct TypeHelper { + static bool Is(const ValueType &v) { return v.IsUint(); } + static unsigned Get(const ValueType &v) { return v.GetUint(); } + static ValueType &Set(ValueType &v, unsigned data) { return v.SetUint(data); } + static ValueType &Set(ValueType &v, unsigned data, + typename ValueType::AllocatorType &) { + return v.SetUint(data); + } +}; + +#ifdef _MSC_VER +RAPIDJSON_STATIC_ASSERT(sizeof(long) == sizeof(int)); +template +struct TypeHelper { + static bool Is(const ValueType &v) { return v.IsInt(); } + static long Get(const ValueType &v) { return v.GetInt(); } + static ValueType &Set(ValueType &v, long data) { return v.SetInt(data); } + static ValueType &Set(ValueType &v, long data, + typename ValueType::AllocatorType &) { + return v.SetInt(data); + } +}; + +RAPIDJSON_STATIC_ASSERT(sizeof(unsigned long) == sizeof(unsigned)); +template +struct TypeHelper { + static bool Is(const ValueType &v) { return v.IsUint(); } + static unsigned long Get(const ValueType &v) { return v.GetUint(); } + static ValueType &Set(ValueType &v, unsigned long data) { + return v.SetUint(data); + } + static ValueType &Set(ValueType &v, unsigned long data, + typename ValueType::AllocatorType &) { + return v.SetUint(data); + } +}; +#endif + +template +struct TypeHelper { + static bool Is(const ValueType &v) { return v.IsInt64(); } + static int64_t Get(const ValueType &v) { return v.GetInt64(); } + static ValueType &Set(ValueType &v, int64_t data) { return v.SetInt64(data); } + static ValueType &Set(ValueType &v, int64_t data, + typename ValueType::AllocatorType &) { + return v.SetInt64(data); + } +}; + +template +struct TypeHelper { + static bool Is(const ValueType &v) { return v.IsUint64(); } + static uint64_t Get(const ValueType &v) { return v.GetUint64(); } + static ValueType &Set(ValueType &v, uint64_t data) { + return v.SetUint64(data); + } + static ValueType &Set(ValueType &v, uint64_t data, + typename ValueType::AllocatorType &) { + return v.SetUint64(data); + } +}; + +template +struct TypeHelper { + static bool Is(const ValueType &v) { return v.IsDouble(); } + static double Get(const ValueType &v) { return v.GetDouble(); } + static ValueType &Set(ValueType &v, double data) { return v.SetDouble(data); } + static ValueType &Set(ValueType &v, double data, + typename ValueType::AllocatorType &) { + return v.SetDouble(data); + } +}; + +template +struct TypeHelper { + static bool Is(const ValueType &v) { return v.IsFloat(); } + static float Get(const ValueType &v) { return v.GetFloat(); } + static ValueType &Set(ValueType &v, float data) { return v.SetFloat(data); } + static ValueType &Set(ValueType &v, float data, + typename ValueType::AllocatorType &) { + return v.SetFloat(data); + } +}; + +template +struct TypeHelper { + typedef const typename ValueType::Ch *StringType; + static bool Is(const ValueType &v) { return v.IsString(); } + static StringType Get(const ValueType &v) { return v.GetString(); } + static ValueType &Set(ValueType &v, const StringType data) { + return v.SetString(typename ValueType::StringRefType(data)); + } + static ValueType &Set(ValueType &v, const StringType data, + typename ValueType::AllocatorType &a) { + return v.SetString(data, a); + } +}; + +#if RAPIDJSON_HAS_STDSTRING +template +struct TypeHelper> { + typedef std::basic_string StringType; + static bool Is(const ValueType &v) { return v.IsString(); } + static StringType Get(const ValueType &v) { + return StringType(v.GetString(), v.GetStringLength()); + } + static ValueType &Set(ValueType &v, const StringType &data, + typename ValueType::AllocatorType &a) { + return v.SetString(data, a); + } +}; +#endif + +template +struct TypeHelper { + typedef typename ValueType::Array ArrayType; + static bool Is(const ValueType &v) { return v.IsArray(); } + static ArrayType Get(ValueType &v) { return v.GetArray(); } + static ValueType &Set(ValueType &v, ArrayType data) { return v = data; } + static ValueType &Set(ValueType &v, ArrayType data, + typename ValueType::AllocatorType &) { + return v = data; + } +}; + +template +struct TypeHelper { + typedef typename ValueType::ConstArray ArrayType; + static bool Is(const ValueType &v) { return v.IsArray(); } + static ArrayType Get(const ValueType &v) { return v.GetArray(); } +}; + +template +struct TypeHelper { + typedef typename ValueType::Object ObjectType; + static bool Is(const ValueType &v) { return v.IsObject(); } + static ObjectType Get(ValueType &v) { return v.GetObject(); } + static ValueType &Set(ValueType &v, ObjectType data) { return v = data; } + static ValueType &Set(ValueType &v, ObjectType data, + typename ValueType::AllocatorType &) { + return v = data; + } +}; + +template +struct TypeHelper { + typedef typename ValueType::ConstObject ObjectType; + static bool Is(const ValueType &v) { return v.IsObject(); } + static ObjectType Get(const ValueType &v) { return v.GetObject(); } +}; + +} // namespace internal + +// Forward declarations +template +class GenericArray; +template +class GenericObject; + +/////////////////////////////////////////////////////////////////////////////// +// GenericValue + +//! Represents a JSON value. Use Value for UTF8 encoding and default allocator. +/*! + A JSON value can be one of 7 types. This class is a variant type supporting + these types. + + Use the Value if UTF8 and default allocator + + \tparam Encoding Encoding of the value. (Even non-string values need to + have the same encoding in a document) \tparam Allocator Allocator type for + allocating memory of object, array and string. +*/ +template > +class GenericValue { + public: + //! Name-value pair in an object. + typedef GenericMember Member; + typedef Encoding EncodingType; //!< Encoding type from template parameter. + typedef Allocator AllocatorType; //!< Allocator type from template parameter. + typedef typename Encoding::Ch Ch; //!< Character type derived from Encoding. + typedef GenericStringRef + StringRefType; //!< Reference to a constant string + typedef typename GenericMemberIterator::Iterator + MemberIterator; //!< Member iterator for iterating in object. + typedef typename GenericMemberIterator::Iterator + ConstMemberIterator; //!< Constant member iterator for iterating in + //!< object. + typedef GenericValue + *ValueIterator; //!< Value iterator for iterating in array. + typedef const GenericValue + *ConstValueIterator; //!< Constant value iterator for iterating in array. + typedef GenericValue + ValueType; //!< Value type of itself. + typedef GenericArray Array; + typedef GenericArray ConstArray; + typedef GenericObject Object; + typedef GenericObject ConstObject; + + //!@name Constructors and destructor. + //@{ + + //! Default constructor creates a null value. + GenericValue() RAPIDJSON_NOEXCEPT : data_() { data_.f.flags = kNullFlag; } + +#if RAPIDJSON_HAS_CXX11_RVALUE_REFS + //! Move constructor in C++11 + GenericValue(GenericValue &&rhs) RAPIDJSON_NOEXCEPT : data_(rhs.data_) { + rhs.data_.f.flags = kNullFlag; // give up contents + } +#endif + + private: + //! Copy constructor is not permitted. + GenericValue(const GenericValue &rhs); + +#if RAPIDJSON_HAS_CXX11_RVALUE_REFS + //! Moving from a GenericDocument is not permitted. + template + GenericValue(GenericDocument &&rhs); + + //! Move assignment from a GenericDocument is not permitted. + template + GenericValue &operator=( + GenericDocument &&rhs); +#endif + + public: + //! Constructor with JSON value type. + /*! This creates a Value of specified type with default content. + \param type Type of the value. + \note Default content for number is zero. + */ + explicit GenericValue(Type type) RAPIDJSON_NOEXCEPT : data_() { + static const uint16_t defaultFlags[] = { + kNullFlag, kFalseFlag, kTrueFlag, kObjectFlag, + kArrayFlag, kShortStringFlag, kNumberAnyFlag}; + RAPIDJSON_NOEXCEPT_ASSERT(type >= kNullType && type <= kNumberType); + data_.f.flags = defaultFlags[type]; + + // Use ShortString to store empty string. + if (type == kStringType) data_.ss.SetLength(0); + } + + //! Explicit copy constructor (with allocator) + /*! Creates a copy of a Value by using the given Allocator + \tparam SourceAllocator allocator of \c rhs + \param rhs Value to copy from (read-only) + \param allocator Allocator for allocating copied elements and buffers. + Commonly use GenericDocument::GetAllocator(). \param copyConstStrings Force + copying of constant strings (e.g. referencing an in-situ buffer) \see + CopyFrom() + */ + template + GenericValue(const GenericValue &rhs, + Allocator &allocator, bool copyConstStrings = false) { + switch (rhs.GetType()) { + case kObjectType: { + SizeType count = rhs.data_.o.size; + Member *lm = reinterpret_cast( + allocator.Malloc(count * sizeof(Member))); + const typename GenericValue::Member *rm = + rhs.GetMembersPointer(); + for (SizeType i = 0; i < count; i++) { + new (&lm[i].name) + GenericValue(rm[i].name, allocator, copyConstStrings); + new (&lm[i].value) + GenericValue(rm[i].value, allocator, copyConstStrings); + } + data_.f.flags = kObjectFlag; + data_.o.size = data_.o.capacity = count; + SetMembersPointer(lm); + } break; + case kArrayType: { + SizeType count = rhs.data_.a.size; + GenericValue *le = reinterpret_cast( + allocator.Malloc(count * sizeof(GenericValue))); + const GenericValue *re = + rhs.GetElementsPointer(); + for (SizeType i = 0; i < count; i++) + new (&le[i]) GenericValue(re[i], allocator, copyConstStrings); + data_.f.flags = kArrayFlag; + data_.a.size = data_.a.capacity = count; + SetElementsPointer(le); + } break; + case kStringType: + if (rhs.data_.f.flags == kConstStringFlag && !copyConstStrings) { + data_.f.flags = rhs.data_.f.flags; + data_ = *reinterpret_cast(&rhs.data_); + } else + SetStringRaw(StringRef(rhs.GetString(), rhs.GetStringLength()), + allocator); + break; + default: + data_.f.flags = rhs.data_.f.flags; + data_ = *reinterpret_cast(&rhs.data_); + break; + } + } + +//! Constructor for boolean value. +/*! \param b Boolean value + \note This constructor is limited to \em real boolean values and rejects + implicitly converted types like arbitrary pointers. Use an explicit + cast to \c bool, if you want to construct a boolean JSON value in such + cases. + */ +#ifndef RAPIDJSON_DOXYGEN_RUNNING // hide SFINAE from Doxygen + template + explicit GenericValue(T b, RAPIDJSON_ENABLEIF((internal::IsSame))) + RAPIDJSON_NOEXCEPT // See #472 +#else + explicit GenericValue(bool b) RAPIDJSON_NOEXCEPT +#endif + : data_() { + // safe-guard against failing SFINAE + RAPIDJSON_STATIC_ASSERT((internal::IsSame::Value)); + data_.f.flags = b ? kTrueFlag : kFalseFlag; + } + + //! Constructor for int value. + explicit GenericValue(int i) RAPIDJSON_NOEXCEPT : data_() { + data_.n.i64 = i; + data_.f.flags = + (i >= 0) ? (kNumberIntFlag | kUintFlag | kUint64Flag) : kNumberIntFlag; + } + + //! Constructor for unsigned value. + explicit GenericValue(unsigned u) RAPIDJSON_NOEXCEPT : data_() { + data_.n.u64 = u; + data_.f.flags = (u & 0x80000000) + ? kNumberUintFlag + : (kNumberUintFlag | kIntFlag | kInt64Flag); + } + + //! Constructor for int64_t value. + explicit GenericValue(int64_t i64) RAPIDJSON_NOEXCEPT : data_() { + data_.n.i64 = i64; + data_.f.flags = kNumberInt64Flag; + if (i64 >= 0) { + data_.f.flags |= kNumberUint64Flag; + if (!(static_cast(i64) & + RAPIDJSON_UINT64_C2(0xFFFFFFFF, 0x00000000))) + data_.f.flags |= kUintFlag; + if (!(static_cast(i64) & + RAPIDJSON_UINT64_C2(0xFFFFFFFF, 0x80000000))) + data_.f.flags |= kIntFlag; + } else if (i64 >= static_cast( + RAPIDJSON_UINT64_C2(0xFFFFFFFF, 0x80000000))) + data_.f.flags |= kIntFlag; + } + + //! Constructor for uint64_t value. + explicit GenericValue(uint64_t u64) RAPIDJSON_NOEXCEPT : data_() { + data_.n.u64 = u64; + data_.f.flags = kNumberUint64Flag; + if (!(u64 & RAPIDJSON_UINT64_C2(0x80000000, 0x00000000))) + data_.f.flags |= kInt64Flag; + if (!(u64 & RAPIDJSON_UINT64_C2(0xFFFFFFFF, 0x00000000))) + data_.f.flags |= kUintFlag; + if (!(u64 & RAPIDJSON_UINT64_C2(0xFFFFFFFF, 0x80000000))) + data_.f.flags |= kIntFlag; + } + + //! Constructor for double value. + explicit GenericValue(double d) RAPIDJSON_NOEXCEPT : data_() { + data_.n.d = d; + data_.f.flags = kNumberDoubleFlag; + } + + //! Constructor for float value. + explicit GenericValue(float f) RAPIDJSON_NOEXCEPT : data_() { + data_.n.d = static_cast(f); + data_.f.flags = kNumberDoubleFlag; + } + + //! Constructor for constant string (i.e. do not make a copy of string) + GenericValue(const Ch *s, SizeType length) RAPIDJSON_NOEXCEPT : data_() { + SetStringRaw(StringRef(s, length)); + } + + //! Constructor for constant string (i.e. do not make a copy of string) + explicit GenericValue(StringRefType s) RAPIDJSON_NOEXCEPT : data_() { + SetStringRaw(s); + } + + //! Constructor for copy-string (i.e. do make a copy of string) + GenericValue(const Ch *s, SizeType length, Allocator &allocator) : data_() { + SetStringRaw(StringRef(s, length), allocator); + } + + //! Constructor for copy-string (i.e. do make a copy of string) + GenericValue(const Ch *s, Allocator &allocator) : data_() { + SetStringRaw(StringRef(s), allocator); + } + +#if RAPIDJSON_HAS_STDSTRING + //! Constructor for copy-string from a string object (i.e. do make a copy of + //! string) + /*! \note Requires the definition of the preprocessor symbol \ref + * RAPIDJSON_HAS_STDSTRING. + */ + GenericValue(const std::basic_string &s, Allocator &allocator) : data_() { + SetStringRaw(StringRef(s), allocator); + } +#endif + + //! Constructor for Array. + /*! + \param a An array obtained by \c GetArray(). + \note \c Array is always pass-by-value. + \note the source array is moved into this value and the sourec array + becomes empty. + */ + GenericValue(Array a) RAPIDJSON_NOEXCEPT : data_(a.value_.data_) { + a.value_.data_ = Data(); + a.value_.data_.f.flags = kArrayFlag; + } + + //! Constructor for Object. + /*! + \param o An object obtained by \c GetObject(). + \note \c Object is always pass-by-value. + \note the source object is moved into this value and the sourec object + becomes empty. + */ + GenericValue(Object o) RAPIDJSON_NOEXCEPT : data_(o.value_.data_) { + o.value_.data_ = Data(); + o.value_.data_.f.flags = kObjectFlag; + } + + //! Destructor. + /*! Need to destruct elements of array, members of object, or copy-string. + */ + ~GenericValue() { + if (Allocator::kNeedFree) { // Shortcut by Allocator's trait + switch (data_.f.flags) { + case kArrayFlag: { + GenericValue *e = GetElementsPointer(); + for (GenericValue *v = e; v != e + data_.a.size; ++v) + v->~GenericValue(); + Allocator::Free(e); + } break; + + case kObjectFlag: + for (MemberIterator m = MemberBegin(); m != MemberEnd(); ++m) + m->~Member(); + Allocator::Free(GetMembersPointer()); + break; + + case kCopyStringFlag: + Allocator::Free(const_cast(GetStringPointer())); + break; + + default: + break; // Do nothing for other types. + } + } + } + + //@} + + //!@name Assignment operators + //@{ + + //! Assignment with move semantics. + /*! \param rhs Source of the assignment. It will become a null value after + * assignment. + */ + GenericValue &operator=(GenericValue &rhs) RAPIDJSON_NOEXCEPT { + if (RAPIDJSON_LIKELY(this != &rhs)) { + this->~GenericValue(); + RawAssign(rhs); + } + return *this; + } + +#if RAPIDJSON_HAS_CXX11_RVALUE_REFS + //! Move assignment in C++11 + GenericValue &operator=(GenericValue &&rhs) RAPIDJSON_NOEXCEPT { + return *this = rhs.Move(); + } +#endif + + //! Assignment of constant string reference (no copy) + /*! \param str Constant string reference to be assigned + \note This overload is needed to avoid clashes with the generic primitive + type assignment overload below. \see GenericStringRef, operator=(T) + */ + GenericValue &operator=(StringRefType str) RAPIDJSON_NOEXCEPT { + GenericValue s(str); + return *this = s; + } + + //! Assignment with primitive types. + /*! \tparam T Either \ref Type, \c int, \c unsigned, \c int64_t, \c uint64_t + \param value The value to be assigned. + + \note The source type \c T explicitly disallows all pointer types, + especially (\c const) \ref Ch*. This helps avoiding implicitly + referencing character strings with insufficient lifetime, use + \ref SetString(const Ch*, Allocator&) (for copying) or + \ref StringRef() (to explicitly mark the pointer as constant) instead. + All other pointer types would implicitly convert to \c bool, + use \ref SetBool() instead. + */ + template + RAPIDJSON_DISABLEIF_RETURN((internal::IsPointer), (GenericValue &)) + operator=(T value) { + GenericValue v(value); + return *this = v; + } + + //! Deep-copy assignment from Value + /*! Assigns a \b copy of the Value to the current Value object + \tparam SourceAllocator Allocator type of \c rhs + \param rhs Value to copy from (read-only) + \param allocator Allocator to use for copying + \param copyConstStrings Force copying of constant strings (e.g. + referencing an in-situ buffer) + */ + template + GenericValue &CopyFrom(const GenericValue &rhs, + Allocator &allocator, bool copyConstStrings = false) { + RAPIDJSON_ASSERT(static_cast(this) != + static_cast(&rhs)); + this->~GenericValue(); + new (this) GenericValue(rhs, allocator, copyConstStrings); + return *this; + } + + //! Exchange the contents of this value with those of other. + /*! + \param other Another value. + \note Constant complexity. + */ + GenericValue &Swap(GenericValue &other) RAPIDJSON_NOEXCEPT { + GenericValue temp; + temp.RawAssign(*this); + RawAssign(other); + other.RawAssign(temp); + return *this; + } + + //! free-standing swap function helper + /*! + Helper function to enable support for common swap implementation pattern + based on \c std::swap: \code void swap(MyClass& a, MyClass& b) { using + std::swap; swap(a.value, b.value); + // ... + } + \endcode + \see Swap() + */ + friend inline void swap(GenericValue &a, GenericValue &b) RAPIDJSON_NOEXCEPT { + a.Swap(b); + } + + //! Prepare Value for move semantics + /*! \return *this */ + GenericValue &Move() RAPIDJSON_NOEXCEPT { return *this; } + //@} + + //!@name Equal-to and not-equal-to operators + //@{ + //! Equal-to operator + /*! + \note If an object contains duplicated named member, comparing equality + with any object is always \c false. \note Complexity is quadratic in + Object's member number and linear for the rest (number of all values in the + subtree and total lengths of all strings). + */ + template + bool operator==(const GenericValue &rhs) const { + typedef GenericValue RhsType; + if (GetType() != rhs.GetType()) return false; + + switch (GetType()) { + case kObjectType: // Warning: O(n^2) inner-loop + if (data_.o.size != rhs.data_.o.size) return false; + for (ConstMemberIterator lhsMemberItr = MemberBegin(); + lhsMemberItr != MemberEnd(); ++lhsMemberItr) { + typename RhsType::ConstMemberIterator rhsMemberItr = + rhs.FindMember(lhsMemberItr->name); + if (rhsMemberItr == rhs.MemberEnd() || + lhsMemberItr->value != rhsMemberItr->value) + return false; + } + return true; + + case kArrayType: + if (data_.a.size != rhs.data_.a.size) return false; + for (SizeType i = 0; i < data_.a.size; i++) + if ((*this)[i] != rhs[i]) return false; + return true; + + case kStringType: + return StringEqual(rhs); + + case kNumberType: + if (IsDouble() || rhs.IsDouble()) { + double a = GetDouble(); // May convert from integer to double. + double b = rhs.GetDouble(); // Ditto + return a >= b && a <= b; // Prevent -Wfloat-equal + } else + return data_.n.u64 == rhs.data_.n.u64; + + default: + return true; + } + } + + //! Equal-to operator with const C-string pointer + bool operator==(const Ch *rhs) const { + return *this == GenericValue(StringRef(rhs)); + } + +#if RAPIDJSON_HAS_STDSTRING + //! Equal-to operator with string object + /*! \note Requires the definition of the preprocessor symbol \ref + * RAPIDJSON_HAS_STDSTRING. + */ + bool operator==(const std::basic_string &rhs) const { + return *this == GenericValue(StringRef(rhs)); + } +#endif + + //! Equal-to operator with primitive types + /*! \tparam T Either \ref Type, \c int, \c unsigned, \c int64_t, \c uint64_t, + * \c double, \c true, \c false + */ + template + RAPIDJSON_DISABLEIF_RETURN( + (internal::OrExpr, internal::IsGenericValue>), + (bool)) + operator==(const T &rhs) const { + return *this == GenericValue(rhs); + } + + //! Not-equal-to operator + /*! \return !(*this == rhs) + */ + template + bool operator!=(const GenericValue &rhs) const { + return !(*this == rhs); + } + + //! Not-equal-to operator with const C-string pointer + bool operator!=(const Ch *rhs) const { return !(*this == rhs); } + + //! Not-equal-to operator with arbitrary types + /*! \return !(*this == rhs) + */ + template + RAPIDJSON_DISABLEIF_RETURN((internal::IsGenericValue), (bool)) + operator!=(const T &rhs) const { + return !(*this == rhs); + } + + //! Equal-to operator with arbitrary types (symmetric version) + /*! \return (rhs == lhs) + */ + template + friend RAPIDJSON_DISABLEIF_RETURN((internal::IsGenericValue), (bool)) + operator==(const T &lhs, const GenericValue &rhs) { + return rhs == lhs; + } + + //! Not-Equal-to operator with arbitrary types (symmetric version) + /*! \return !(rhs == lhs) + */ + template + friend RAPIDJSON_DISABLEIF_RETURN((internal::IsGenericValue), (bool)) + operator!=(const T &lhs, const GenericValue &rhs) { + return !(rhs == lhs); + } + //@} + + //!@name Type + //@{ + + Type GetType() const { return static_cast(data_.f.flags & kTypeMask); } + bool IsNull() const { return data_.f.flags == kNullFlag; } + bool IsFalse() const { return data_.f.flags == kFalseFlag; } + bool IsTrue() const { return data_.f.flags == kTrueFlag; } + bool IsBool() const { return (data_.f.flags & kBoolFlag) != 0; } + bool IsObject() const { return data_.f.flags == kObjectFlag; } + bool IsArray() const { return data_.f.flags == kArrayFlag; } + bool IsNumber() const { return (data_.f.flags & kNumberFlag) != 0; } + bool IsInt() const { return (data_.f.flags & kIntFlag) != 0; } + bool IsUint() const { return (data_.f.flags & kUintFlag) != 0; } + bool IsInt64() const { return (data_.f.flags & kInt64Flag) != 0; } + bool IsUint64() const { return (data_.f.flags & kUint64Flag) != 0; } + bool IsDouble() const { return (data_.f.flags & kDoubleFlag) != 0; } + bool IsString() const { return (data_.f.flags & kStringFlag) != 0; } + + // Checks whether a number can be losslessly converted to a double. + bool IsLosslessDouble() const { + if (!IsNumber()) return false; + if (IsUint64()) { + uint64_t u = GetUint64(); + volatile double d = static_cast(u); + return (d >= 0.0) && + (d < + static_cast((std::numeric_limits::max)())) && + (u == static_cast(d)); + } + if (IsInt64()) { + int64_t i = GetInt64(); + volatile double d = static_cast(i); + return (d >= + static_cast((std::numeric_limits::min)())) && + (d < static_cast((std::numeric_limits::max)())) && + (i == static_cast(d)); + } + return true; // double, int, uint are always lossless + } + + // Checks whether a number is a float (possible lossy). + bool IsFloat() const { + if ((data_.f.flags & kDoubleFlag) == 0) return false; + double d = GetDouble(); + return d >= -3.4028234e38 && d <= 3.4028234e38; + } + // Checks whether a number can be losslessly converted to a float. + bool IsLosslessFloat() const { + if (!IsNumber()) return false; + double a = GetDouble(); + if (a < static_cast(-(std::numeric_limits::max)()) || + a > static_cast((std::numeric_limits::max)())) + return false; + double b = static_cast(static_cast(a)); + return a >= b && a <= b; // Prevent -Wfloat-equal + } + + //@} + + //!@name Null + //@{ + + GenericValue &SetNull() { + this->~GenericValue(); + new (this) GenericValue(); + return *this; + } + + //@} + + //!@name Bool + //@{ + + bool GetBool() const { + RAPIDJSON_ASSERT(IsBool()); + return data_.f.flags == kTrueFlag; + } + //!< Set boolean value + /*! \post IsBool() == true */ + GenericValue &SetBool(bool b) { + this->~GenericValue(); + new (this) GenericValue(b); + return *this; + } + + //@} + + //!@name Object + //@{ + + //! Set this value as an empty object. + /*! \post IsObject() == true */ + GenericValue &SetObject() { + this->~GenericValue(); + new (this) GenericValue(kObjectType); + return *this; + } + + //! Get the number of members in the object. + SizeType MemberCount() const { + RAPIDJSON_ASSERT(IsObject()); + return data_.o.size; + } + + //! Get the capacity of object. + SizeType MemberCapacity() const { + RAPIDJSON_ASSERT(IsObject()); + return data_.o.capacity; + } + + //! Check whether the object is empty. + bool ObjectEmpty() const { + RAPIDJSON_ASSERT(IsObject()); + return data_.o.size == 0; + } + + //! Get a value from an object associated with the name. + /*! \pre IsObject() == true + \tparam T Either \c Ch or \c const \c Ch (template used for disambiguation + with \ref operator[](SizeType)) \note In version 0.1x, if the member is not + found, this function returns a null value. This makes issue 7. Since 0.2, + if the name is not correct, it will assert. If user is unsure whether a + member exists, user should use HasMember() first. A better approach is to + use FindMember(). \note Linear time complexity. + */ + template + RAPIDJSON_DISABLEIF_RETURN( + (internal::NotExpr< + internal::IsSame::Type, Ch>>), + (GenericValue &)) + operator[](T *name) { + GenericValue n(StringRef(name)); + return (*this)[n]; + } + template + RAPIDJSON_DISABLEIF_RETURN( + (internal::NotExpr< + internal::IsSame::Type, Ch>>), + (const GenericValue &)) + operator[](T *name) const { + return const_cast(*this)[name]; + } + + //! Get a value from an object associated with the name. + /*! \pre IsObject() == true + \tparam SourceAllocator Allocator of the \c name value + + \note Compared to \ref operator[](T*), this version is faster because it + does not need a StrLen(). And it can also handle strings with embedded null + characters. + + \note Linear time complexity. + */ + template + GenericValue &operator[]( + const GenericValue &name) { + MemberIterator member = FindMember(name); + if (member != MemberEnd()) + return member->value; + else { + RAPIDJSON_ASSERT(false); // see above note + + // This will generate -Wexit-time-destructors in clang + // static GenericValue NullValue; + // return NullValue; + + // Use static buffer and placement-new to prevent destruction + static char buffer[sizeof(GenericValue)]; + return *new (buffer) GenericValue(); + } + } + template + const GenericValue &operator[]( + const GenericValue &name) const { + return const_cast(*this)[name]; + } + +#if RAPIDJSON_HAS_STDSTRING + //! Get a value from an object associated with name (string object). + GenericValue &operator[](const std::basic_string &name) { + return (*this)[GenericValue(StringRef(name))]; + } + const GenericValue &operator[](const std::basic_string &name) const { + return (*this)[GenericValue(StringRef(name))]; + } +#endif + + //! Const member iterator + /*! \pre IsObject() == true */ + ConstMemberIterator MemberBegin() const { + RAPIDJSON_ASSERT(IsObject()); + return ConstMemberIterator(GetMembersPointer()); + } + //! Const \em past-the-end member iterator + /*! \pre IsObject() == true */ + ConstMemberIterator MemberEnd() const { + RAPIDJSON_ASSERT(IsObject()); + return ConstMemberIterator(GetMembersPointer() + data_.o.size); + } + //! Member iterator + /*! \pre IsObject() == true */ + MemberIterator MemberBegin() { + RAPIDJSON_ASSERT(IsObject()); + return MemberIterator(GetMembersPointer()); + } + //! \em Past-the-end member iterator + /*! \pre IsObject() == true */ + MemberIterator MemberEnd() { + RAPIDJSON_ASSERT(IsObject()); + return MemberIterator(GetMembersPointer() + data_.o.size); + } + + //! Request the object to have enough capacity to store members. + /*! \param newCapacity The capacity that the object at least need to have. + \param allocator Allocator for reallocating memory. It must be the same + one as used before. Commonly use GenericDocument::GetAllocator(). \return + The value itself for fluent API. \note Linear time complexity. + */ + GenericValue &MemberReserve(SizeType newCapacity, Allocator &allocator) { + RAPIDJSON_ASSERT(IsObject()); + if (newCapacity > data_.o.capacity) { + SetMembersPointer(reinterpret_cast(allocator.Realloc( + GetMembersPointer(), data_.o.capacity * sizeof(Member), + newCapacity * sizeof(Member)))); + data_.o.capacity = newCapacity; + } + return *this; + } + + //! Check whether a member exists in the object. + /*! + \param name Member name to be searched. + \pre IsObject() == true + \return Whether a member with that name exists. + \note It is better to use FindMember() directly if you need the obtain the + value as well. \note Linear time complexity. + */ + bool HasMember(const Ch *name) const { + return FindMember(name) != MemberEnd(); + } + +#if RAPIDJSON_HAS_STDSTRING + //! Check whether a member exists in the object with string object. + /*! + \param name Member name to be searched. + \pre IsObject() == true + \return Whether a member with that name exists. + \note It is better to use FindMember() directly if you need the obtain the + value as well. \note Linear time complexity. + */ + bool HasMember(const std::basic_string &name) const { + return FindMember(name) != MemberEnd(); + } +#endif + + //! Check whether a member exists in the object with GenericValue name. + /*! + This version is faster because it does not need a StrLen(). It can also + handle string with null character. \param name Member name to be searched. + \pre IsObject() == true + \return Whether a member with that name exists. + \note It is better to use FindMember() directly if you need the obtain the + value as well. \note Linear time complexity. + */ + template + bool HasMember(const GenericValue &name) const { + return FindMember(name) != MemberEnd(); + } + + //! Find member by name. + /*! + \param name Member name to be searched. + \pre IsObject() == true + \return Iterator to member, if it exists. + Otherwise returns \ref MemberEnd(). + + \note Earlier versions of Rapidjson returned a \c NULL pointer, in case + the requested member doesn't exist. For consistency with e.g. + \c std::map, this has been changed to MemberEnd() now. + \note Linear time complexity. + */ + MemberIterator FindMember(const Ch *name) { + GenericValue n(StringRef(name)); + return FindMember(n); + } + + ConstMemberIterator FindMember(const Ch *name) const { + return const_cast(*this).FindMember(name); + } + + //! Find member by name. + /*! + This version is faster because it does not need a StrLen(). It can also + handle string with null character. \param name Member name to be searched. + \pre IsObject() == true + \return Iterator to member, if it exists. + Otherwise returns \ref MemberEnd(). + + \note Earlier versions of Rapidjson returned a \c NULL pointer, in case + the requested member doesn't exist. For consistency with e.g. + \c std::map, this has been changed to MemberEnd() now. + \note Linear time complexity. + */ + template + MemberIterator FindMember( + const GenericValue &name) { + RAPIDJSON_ASSERT(IsObject()); + RAPIDJSON_ASSERT(name.IsString()); + MemberIterator member = MemberBegin(); + for (; member != MemberEnd(); ++member) + if (name.StringEqual(member->name)) break; + return member; + } + template + ConstMemberIterator FindMember( + const GenericValue &name) const { + return const_cast(*this).FindMember(name); + } + +#if RAPIDJSON_HAS_STDSTRING + //! Find member by string object name. + /*! + \param name Member name to be searched. + \pre IsObject() == true + \return Iterator to member, if it exists. + Otherwise returns \ref MemberEnd(). + */ + MemberIterator FindMember(const std::basic_string &name) { + return FindMember(GenericValue(StringRef(name))); + } + ConstMemberIterator FindMember(const std::basic_string &name) const { + return FindMember(GenericValue(StringRef(name))); + } +#endif + + //! Add a member (name-value pair) to the object. + /*! \param name A string value as name of member. + \param value Value of any type. + \param allocator Allocator for reallocating memory. It must be the same + one as used before. Commonly use GenericDocument::GetAllocator(). \return + The value itself for fluent API. \note The ownership of \c name and \c + value will be transferred to this object on success. \pre IsObject() && + name.IsString() \post name.IsNull() && value.IsNull() \note Amortized + Constant time complexity. + */ + GenericValue &AddMember(GenericValue &name, GenericValue &value, + Allocator &allocator) { + RAPIDJSON_ASSERT(IsObject()); + RAPIDJSON_ASSERT(name.IsString()); + + ObjectData &o = data_.o; + if (o.size >= o.capacity) + MemberReserve(o.capacity == 0 ? kDefaultObjectCapacity + : (o.capacity + (o.capacity + 1) / 2), + allocator); + Member *members = GetMembersPointer(); + members[o.size].name.RawAssign(name); + members[o.size].value.RawAssign(value); + o.size++; + return *this; + } + + //! Add a constant string value as member (name-value pair) to the object. + /*! \param name A string value as name of member. + \param value constant string reference as value of member. + \param allocator Allocator for reallocating memory. It must be the same + one as used before. Commonly use GenericDocument::GetAllocator(). \return + The value itself for fluent API. \pre IsObject() \note This overload is + needed to avoid clashes with the generic primitive type + AddMember(GenericValue&,T,Allocator&) overload below. \note Amortized + Constant time complexity. + */ + GenericValue &AddMember(GenericValue &name, StringRefType value, + Allocator &allocator) { + GenericValue v(value); + return AddMember(name, v, allocator); + } + +#if RAPIDJSON_HAS_STDSTRING + //! Add a string object as member (name-value pair) to the object. + /*! \param name A string value as name of member. + \param value constant string reference as value of member. + \param allocator Allocator for reallocating memory. It must be the same + one as used before. Commonly use GenericDocument::GetAllocator(). \return + The value itself for fluent API. \pre IsObject() \note This overload is + needed to avoid clashes with the generic primitive type + AddMember(GenericValue&,T,Allocator&) overload below. \note Amortized + Constant time complexity. + */ + GenericValue &AddMember(GenericValue &name, std::basic_string &value, + Allocator &allocator) { + GenericValue v(value, allocator); + return AddMember(name, v, allocator); + } +#endif + + //! Add any primitive value as member (name-value pair) to the object. + /*! \tparam T Either \ref Type, \c int, \c unsigned, \c int64_t, \c uint64_t + \param name A string value as name of member. + \param value Value of primitive type \c T as value of member + \param allocator Allocator for reallocating memory. Commonly use + GenericDocument::GetAllocator(). \return The value itself for fluent API. + \pre IsObject() + + \note The source type \c T explicitly disallows all pointer types, + especially (\c const) \ref Ch*. This helps avoiding implicitly + referencing character strings with insufficient lifetime, use + \ref AddMember(StringRefType, GenericValue&, Allocator&) or \ref + AddMember(StringRefType, StringRefType, Allocator&). + All other pointer types would implicitly convert to \c bool, + use an explicit cast instead, if needed. + \note Amortized Constant time complexity. + */ + template + RAPIDJSON_DISABLEIF_RETURN( + (internal::OrExpr, internal::IsGenericValue>), + (GenericValue &)) + AddMember(GenericValue &name, T value, Allocator &allocator) { + GenericValue v(value); + return AddMember(name, v, allocator); + } + +#if RAPIDJSON_HAS_CXX11_RVALUE_REFS + GenericValue &AddMember(GenericValue &&name, GenericValue &&value, + Allocator &allocator) { + return AddMember(name, value, allocator); + } + GenericValue &AddMember(GenericValue &&name, GenericValue &value, + Allocator &allocator) { + return AddMember(name, value, allocator); + } + GenericValue &AddMember(GenericValue &name, GenericValue &&value, + Allocator &allocator) { + return AddMember(name, value, allocator); + } + GenericValue &AddMember(StringRefType name, GenericValue &&value, + Allocator &allocator) { + GenericValue n(name); + return AddMember(n, value, allocator); + } +#endif // RAPIDJSON_HAS_CXX11_RVALUE_REFS + + //! Add a member (name-value pair) to the object. + /*! \param name A constant string reference as name of member. + \param value Value of any type. + \param allocator Allocator for reallocating memory. It must be the same + one as used before. Commonly use GenericDocument::GetAllocator(). \return + The value itself for fluent API. \note The ownership of \c value will be + transferred to this object on success. \pre IsObject() \post + value.IsNull() \note Amortized Constant time complexity. + */ + GenericValue &AddMember(StringRefType name, GenericValue &value, + Allocator &allocator) { + GenericValue n(name); + return AddMember(n, value, allocator); + } + + //! Add a constant string value as member (name-value pair) to the object. + /*! \param name A constant string reference as name of member. + \param value constant string reference as value of member. + \param allocator Allocator for reallocating memory. It must be the same + one as used before. Commonly use GenericDocument::GetAllocator(). \return + The value itself for fluent API. \pre IsObject() \note This overload is + needed to avoid clashes with the generic primitive type + AddMember(StringRefType,T,Allocator&) overload below. \note Amortized + Constant time complexity. + */ + GenericValue &AddMember(StringRefType name, StringRefType value, + Allocator &allocator) { + GenericValue v(value); + return AddMember(name, v, allocator); + } + + //! Add any primitive value as member (name-value pair) to the object. + /*! \tparam T Either \ref Type, \c int, \c unsigned, \c int64_t, \c uint64_t + \param name A constant string reference as name of member. + \param value Value of primitive type \c T as value of member + \param allocator Allocator for reallocating memory. Commonly use + GenericDocument::GetAllocator(). \return The value itself for fluent API. + \pre IsObject() + + \note The source type \c T explicitly disallows all pointer types, + especially (\c const) \ref Ch*. This helps avoiding implicitly + referencing character strings with insufficient lifetime, use + \ref AddMember(StringRefType, GenericValue&, Allocator&) or \ref + AddMember(StringRefType, StringRefType, Allocator&). + All other pointer types would implicitly convert to \c bool, + use an explicit cast instead, if needed. + \note Amortized Constant time complexity. + */ + template + RAPIDJSON_DISABLEIF_RETURN( + (internal::OrExpr, internal::IsGenericValue>), + (GenericValue &)) + AddMember(StringRefType name, T value, Allocator &allocator) { + GenericValue n(name); + return AddMember(n, value, allocator); + } + + //! Remove all members in the object. + /*! This function do not deallocate memory in the object, i.e. the capacity is + unchanged. \note Linear time complexity. + */ + void RemoveAllMembers() { + RAPIDJSON_ASSERT(IsObject()); + for (MemberIterator m = MemberBegin(); m != MemberEnd(); ++m) m->~Member(); + data_.o.size = 0; + } + + //! Remove a member in object by its name. + /*! \param name Name of member to be removed. + \return Whether the member existed. + \note This function may reorder the object members. Use \ref + EraseMember(ConstMemberIterator) if you need to preserve the + relative order of the remaining members. + \note Linear time complexity. + */ + bool RemoveMember(const Ch *name) { + GenericValue n(StringRef(name)); + return RemoveMember(n); + } + +#if RAPIDJSON_HAS_STDSTRING + bool RemoveMember(const std::basic_string &name) { + return RemoveMember(GenericValue(StringRef(name))); + } +#endif + + template + bool RemoveMember(const GenericValue &name) { + MemberIterator m = FindMember(name); + if (m != MemberEnd()) { + RemoveMember(m); + return true; + } else + return false; + } + + //! Remove a member in object by iterator. + /*! \param m member iterator (obtained by FindMember() or MemberBegin()). + \return the new iterator after removal. + \note This function may reorder the object members. Use \ref + EraseMember(ConstMemberIterator) if you need to preserve the + relative order of the remaining members. + \note Constant time complexity. + */ + MemberIterator RemoveMember(MemberIterator m) { + RAPIDJSON_ASSERT(IsObject()); + RAPIDJSON_ASSERT(data_.o.size > 0); + RAPIDJSON_ASSERT(GetMembersPointer() != 0); + RAPIDJSON_ASSERT(m >= MemberBegin() && m < MemberEnd()); + + MemberIterator last(GetMembersPointer() + (data_.o.size - 1)); + if (data_.o.size > 1 && m != last) + *m = *last; // Move the last one to this place + else + m->~Member(); // Only one left, just destroy + --data_.o.size; + return m; + } + + //! Remove a member from an object by iterator. + /*! \param pos iterator to the member to remove + \pre IsObject() == true && \ref MemberBegin() <= \c pos < \ref MemberEnd() + \return Iterator following the removed element. + If the iterator \c pos refers to the last element, the \ref + MemberEnd() iterator is returned. \note This function preserves the + relative order of the remaining object members. If you do not need this, + use the more efficient \ref RemoveMember(MemberIterator). \note Linear time + complexity. + */ + MemberIterator EraseMember(ConstMemberIterator pos) { + return EraseMember(pos, pos + 1); + } + + //! Remove members in the range [first, last) from an object. + /*! \param first iterator to the first member to remove + \param last iterator following the last member to remove + \pre IsObject() == true && \ref MemberBegin() <= \c first <= \c last <= + \ref MemberEnd() \return Iterator following the last removed element. \note + This function preserves the relative order of the remaining object members. + \note Linear time complexity. + */ + MemberIterator EraseMember(ConstMemberIterator first, + ConstMemberIterator last) { + RAPIDJSON_ASSERT(IsObject()); + RAPIDJSON_ASSERT(data_.o.size > 0); + RAPIDJSON_ASSERT(GetMembersPointer() != 0); + RAPIDJSON_ASSERT(first >= MemberBegin()); + RAPIDJSON_ASSERT(first <= last); + RAPIDJSON_ASSERT(last <= MemberEnd()); + + MemberIterator pos = MemberBegin() + (first - MemberBegin()); + for (MemberIterator itr = pos; itr != last; ++itr) itr->~Member(); + std::memmove(static_cast(&*pos), &*last, + static_cast(MemberEnd() - last) * sizeof(Member)); + data_.o.size -= static_cast(last - first); + return pos; + } + + //! Erase a member in object by its name. + /*! \param name Name of member to be removed. + \return Whether the member existed. + \note Linear time complexity. + */ + bool EraseMember(const Ch *name) { + GenericValue n(StringRef(name)); + return EraseMember(n); + } + +#if RAPIDJSON_HAS_STDSTRING + bool EraseMember(const std::basic_string &name) { + return EraseMember(GenericValue(StringRef(name))); + } +#endif + + template + bool EraseMember(const GenericValue &name) { + MemberIterator m = FindMember(name); + if (m != MemberEnd()) { + EraseMember(m); + return true; + } else + return false; + } + + Object GetObject() { + RAPIDJSON_ASSERT(IsObject()); + return Object(*this); + } + ConstObject GetObject() const { + RAPIDJSON_ASSERT(IsObject()); + return ConstObject(*this); + } + + //@} + + //!@name Array + //@{ + + //! Set this value as an empty array. + /*! \post IsArray == true */ + GenericValue &SetArray() { + this->~GenericValue(); + new (this) GenericValue(kArrayType); + return *this; + } + + //! Get the number of elements in array. + SizeType Size() const { + RAPIDJSON_ASSERT(IsArray()); + return data_.a.size; + } + + //! Get the capacity of array. + SizeType Capacity() const { + RAPIDJSON_ASSERT(IsArray()); + return data_.a.capacity; + } + + //! Check whether the array is empty. + bool Empty() const { + RAPIDJSON_ASSERT(IsArray()); + return data_.a.size == 0; + } + + //! Remove all elements in the array. + /*! This function do not deallocate memory in the array, i.e. the capacity is + unchanged. \note Linear time complexity. + */ + void Clear() { + RAPIDJSON_ASSERT(IsArray()); + GenericValue *e = GetElementsPointer(); + for (GenericValue *v = e; v != e + data_.a.size; ++v) v->~GenericValue(); + data_.a.size = 0; + } + + //! Get an element from array by index. + /*! \pre IsArray() == true + \param index Zero-based index of element. + \see operator[](T*) + */ + GenericValue &operator[](SizeType index) { + RAPIDJSON_ASSERT(IsArray()); + RAPIDJSON_ASSERT(index < data_.a.size); + return GetElementsPointer()[index]; + } + const GenericValue &operator[](SizeType index) const { + return const_cast(*this)[index]; + } + + //! Element iterator + /*! \pre IsArray() == true */ + ValueIterator Begin() { + RAPIDJSON_ASSERT(IsArray()); + return GetElementsPointer(); + } + //! \em Past-the-end element iterator + /*! \pre IsArray() == true */ + ValueIterator End() { + RAPIDJSON_ASSERT(IsArray()); + return GetElementsPointer() + data_.a.size; + } + //! Constant element iterator + /*! \pre IsArray() == true */ + ConstValueIterator Begin() const { + return const_cast(*this).Begin(); + } + //! Constant \em past-the-end element iterator + /*! \pre IsArray() == true */ + ConstValueIterator End() const { + return const_cast(*this).End(); + } + + //! Request the array to have enough capacity to store elements. + /*! \param newCapacity The capacity that the array at least need to have. + \param allocator Allocator for reallocating memory. It must be the same + one as used before. Commonly use GenericDocument::GetAllocator(). \return + The value itself for fluent API. \note Linear time complexity. + */ + GenericValue &Reserve(SizeType newCapacity, Allocator &allocator) { + RAPIDJSON_ASSERT(IsArray()); + if (newCapacity > data_.a.capacity) { + SetElementsPointer(reinterpret_cast(allocator.Realloc( + GetElementsPointer(), data_.a.capacity * sizeof(GenericValue), + newCapacity * sizeof(GenericValue)))); + data_.a.capacity = newCapacity; + } + return *this; + } + + //! Append a GenericValue at the end of the array. + /*! \param value Value to be appended. + \param allocator Allocator for reallocating memory. It must be the same + one as used before. Commonly use GenericDocument::GetAllocator(). \pre + IsArray() == true \post value.IsNull() == true \return The value itself for + fluent API. \note The ownership of \c value will be transferred to this + array on success. \note If the number of elements to be appended is known, + calls Reserve() once first may be more efficient. \note Amortized constant + time complexity. + */ + GenericValue &PushBack(GenericValue &value, Allocator &allocator) { + RAPIDJSON_ASSERT(IsArray()); + if (data_.a.size >= data_.a.capacity) + Reserve(data_.a.capacity == 0 + ? kDefaultArrayCapacity + : (data_.a.capacity + (data_.a.capacity + 1) / 2), + allocator); + GetElementsPointer()[data_.a.size++].RawAssign(value); + return *this; + } + +#if RAPIDJSON_HAS_CXX11_RVALUE_REFS + GenericValue &PushBack(GenericValue &&value, Allocator &allocator) { + return PushBack(value, allocator); + } +#endif // RAPIDJSON_HAS_CXX11_RVALUE_REFS + + //! Append a constant string reference at the end of the array. + /*! \param value Constant string reference to be appended. + \param allocator Allocator for reallocating memory. It must be the same + one used previously. Commonly use GenericDocument::GetAllocator(). \pre + IsArray() == true \return The value itself for fluent API. \note If the + number of elements to be appended is known, calls Reserve() once first may + be more efficient. \note Amortized constant time complexity. \see + GenericStringRef + */ + GenericValue &PushBack(StringRefType value, Allocator &allocator) { + return (*this).template PushBack(value, allocator); + } + + //! Append a primitive value at the end of the array. + /*! \tparam T Either \ref Type, \c int, \c unsigned, \c int64_t, \c uint64_t + \param value Value of primitive type T to be appended. + \param allocator Allocator for reallocating memory. It must be the same + one as used before. Commonly use GenericDocument::GetAllocator(). \pre + IsArray() == true \return The value itself for fluent API. \note If the + number of elements to be appended is known, calls Reserve() once first may + be more efficient. + + \note The source type \c T explicitly disallows all pointer types, + especially (\c const) \ref Ch*. This helps avoiding implicitly + referencing character strings with insufficient lifetime, use + \ref PushBack(GenericValue&, Allocator&) or \ref + PushBack(StringRefType, Allocator&). + All other pointer types would implicitly convert to \c bool, + use an explicit cast instead, if needed. + \note Amortized constant time complexity. + */ + template + RAPIDJSON_DISABLEIF_RETURN( + (internal::OrExpr, internal::IsGenericValue>), + (GenericValue &)) + PushBack(T value, Allocator &allocator) { + GenericValue v(value); + return PushBack(v, allocator); + } + + //! Remove the last element in the array. + /*! + \note Constant time complexity. + */ + GenericValue &PopBack() { + RAPIDJSON_ASSERT(IsArray()); + RAPIDJSON_ASSERT(!Empty()); + GetElementsPointer()[--data_.a.size].~GenericValue(); + return *this; + } + + //! Remove an element of array by iterator. + /*! + \param pos iterator to the element to remove + \pre IsArray() == true && \ref Begin() <= \c pos < \ref End() + \return Iterator following the removed element. If the iterator pos refers + to the last element, the End() iterator is returned. \note Linear time + complexity. + */ + ValueIterator Erase(ConstValueIterator pos) { return Erase(pos, pos + 1); } + + //! Remove elements in the range [first, last) of the array. + /*! + \param first iterator to the first element to remove + \param last iterator following the last element to remove + \pre IsArray() == true && \ref Begin() <= \c first <= \c last <= \ref + End() \return Iterator following the last removed element. \note Linear + time complexity. + */ + ValueIterator Erase(ConstValueIterator first, ConstValueIterator last) { + RAPIDJSON_ASSERT(IsArray()); + RAPIDJSON_ASSERT(data_.a.size > 0); + RAPIDJSON_ASSERT(GetElementsPointer() != 0); + RAPIDJSON_ASSERT(first >= Begin()); + RAPIDJSON_ASSERT(first <= last); + RAPIDJSON_ASSERT(last <= End()); + ValueIterator pos = Begin() + (first - Begin()); + for (ValueIterator itr = pos; itr != last; ++itr) itr->~GenericValue(); + std::memmove(static_cast(pos), last, + static_cast(End() - last) * sizeof(GenericValue)); + data_.a.size -= static_cast(last - first); + return pos; + } + + Array GetArray() { + RAPIDJSON_ASSERT(IsArray()); + return Array(*this); + } + ConstArray GetArray() const { + RAPIDJSON_ASSERT(IsArray()); + return ConstArray(*this); + } + + //@} + + //!@name Number + //@{ + + int GetInt() const { + RAPIDJSON_ASSERT(data_.f.flags & kIntFlag); + return data_.n.i.i; + } + unsigned GetUint() const { + RAPIDJSON_ASSERT(data_.f.flags & kUintFlag); + return data_.n.u.u; + } + int64_t GetInt64() const { + RAPIDJSON_ASSERT(data_.f.flags & kInt64Flag); + return data_.n.i64; + } + uint64_t GetUint64() const { + RAPIDJSON_ASSERT(data_.f.flags & kUint64Flag); + return data_.n.u64; + } + + //! Get the value as double type. + /*! \note If the value is 64-bit integer type, it may lose precision. Use \c + * IsLosslessDouble() to check whether the converison is lossless. + */ + double GetDouble() const { + RAPIDJSON_ASSERT(IsNumber()); + if ((data_.f.flags & kDoubleFlag) != 0) + return data_.n.d; // exact type, no conversion. + if ((data_.f.flags & kIntFlag) != 0) return data_.n.i.i; // int -> double + if ((data_.f.flags & kUintFlag) != 0) + return data_.n.u.u; // unsigned -> double + if ((data_.f.flags & kInt64Flag) != 0) + return static_cast( + data_.n.i64); // int64_t -> double (may lose precision) + RAPIDJSON_ASSERT((data_.f.flags & kUint64Flag) != 0); + return static_cast( + data_.n.u64); // uint64_t -> double (may lose precision) + } + + //! Get the value as float type. + /*! \note If the value is 64-bit integer type, it may lose precision. Use \c + * IsLosslessFloat() to check whether the converison is lossless. + */ + float GetFloat() const { return static_cast(GetDouble()); } + + GenericValue &SetInt(int i) { + this->~GenericValue(); + new (this) GenericValue(i); + return *this; + } + GenericValue &SetUint(unsigned u) { + this->~GenericValue(); + new (this) GenericValue(u); + return *this; + } + GenericValue &SetInt64(int64_t i64) { + this->~GenericValue(); + new (this) GenericValue(i64); + return *this; + } + GenericValue &SetUint64(uint64_t u64) { + this->~GenericValue(); + new (this) GenericValue(u64); + return *this; + } + GenericValue &SetDouble(double d) { + this->~GenericValue(); + new (this) GenericValue(d); + return *this; + } + GenericValue &SetFloat(float f) { + this->~GenericValue(); + new (this) GenericValue(static_cast(f)); + return *this; + } + + //@} + + //!@name String + //@{ + + const Ch *GetString() const { + RAPIDJSON_ASSERT(IsString()); + return (data_.f.flags & kInlineStrFlag) ? data_.ss.str : GetStringPointer(); + } + + //! Get the length of string. + /*! Since rapidjson permits "\\u0000" in the json string, + * strlen(v.GetString()) may not equal to v.GetStringLength(). + */ + SizeType GetStringLength() const { + RAPIDJSON_ASSERT(IsString()); + return ((data_.f.flags & kInlineStrFlag) ? (data_.ss.GetLength()) + : data_.s.length); + } + + //! Set this value as a string without copying source string. + /*! This version has better performance with supplied length, and also support + string containing null character. \param s source string pointer. \param + length The length of source string, excluding the trailing null terminator. + \return The value itself for fluent API. + \post IsString() == true && GetString() == s && GetStringLength() == + length \see SetString(StringRefType) + */ + GenericValue &SetString(const Ch *s, SizeType length) { + return SetString(StringRef(s, length)); + } + + //! Set this value as a string without copying source string. + /*! \param s source string reference + \return The value itself for fluent API. + \post IsString() == true && GetString() == s && GetStringLength() == + s.length + */ + GenericValue &SetString(StringRefType s) { + this->~GenericValue(); + SetStringRaw(s); + return *this; + } + + //! Set this value as a string by copying from source string. + /*! This version has better performance with supplied length, and also support + string containing null character. \param s source string. \param length The + length of source string, excluding the trailing null terminator. \param + allocator Allocator for allocating copied buffer. Commonly use + GenericDocument::GetAllocator(). \return The value itself for fluent API. + \post IsString() == true && GetString() != s && strcmp(GetString(),s) == 0 + && GetStringLength() == length + */ + GenericValue &SetString(const Ch *s, SizeType length, Allocator &allocator) { + return SetString(StringRef(s, length), allocator); + } + + //! Set this value as a string by copying from source string. + /*! \param s source string. + \param allocator Allocator for allocating copied buffer. Commonly use + GenericDocument::GetAllocator(). \return The value itself for fluent API. + \post IsString() == true && GetString() != s && strcmp(GetString(),s) == 0 + && GetStringLength() == length + */ + GenericValue &SetString(const Ch *s, Allocator &allocator) { + return SetString(StringRef(s), allocator); + } + + //! Set this value as a string by copying from source string. + /*! \param s source string reference + \param allocator Allocator for allocating copied buffer. Commonly use + GenericDocument::GetAllocator(). \return The value itself for fluent API. + \post IsString() == true && GetString() != s.s && strcmp(GetString(),s) == + 0 && GetStringLength() == length + */ + GenericValue &SetString(StringRefType s, Allocator &allocator) { + this->~GenericValue(); + SetStringRaw(s, allocator); + return *this; + } + +#if RAPIDJSON_HAS_STDSTRING + //! Set this value as a string by copying from source string. + /*! \param s source string. + \param allocator Allocator for allocating copied buffer. Commonly use + GenericDocument::GetAllocator(). \return The value itself for fluent API. + \post IsString() == true && GetString() != s.data() && + strcmp(GetString(),s.data() == 0 && GetStringLength() == s.size() \note + Requires the definition of the preprocessor symbol \ref + RAPIDJSON_HAS_STDSTRING. + */ + GenericValue &SetString(const std::basic_string &s, + Allocator &allocator) { + return SetString(StringRef(s), allocator); + } +#endif + + //@} + + //!@name Array + //@{ + + //! Templated version for checking whether this value is type T. + /*! + \tparam T Either \c bool, \c int, \c unsigned, \c int64_t, \c uint64_t, \c + double, \c float, \c const \c char*, \c std::basic_string + */ + template + bool Is() const { + return internal::TypeHelper::Is(*this); + } + + template + T Get() const { + return internal::TypeHelper::Get(*this); + } + + template + T Get() { + return internal::TypeHelper::Get(*this); + } + + template + ValueType &Set(const T &data) { + return internal::TypeHelper::Set(*this, data); + } + + template + ValueType &Set(const T &data, AllocatorType &allocator) { + return internal::TypeHelper::Set(*this, data, allocator); + } + + //@} + + //! Generate events of this value to a Handler. + /*! This function adopts the GoF visitor pattern. + Typical usage is to output this JSON value as JSON text via Writer, which + is a Handler. It can also be used to deep clone this value via + GenericDocument, which is also a Handler. \tparam Handler type of handler. + \param handler An object implementing concept Handler. + */ + template + bool Accept(Handler &handler) const { + switch (GetType()) { + case kNullType: + return handler.Null(); + case kFalseType: + return handler.Bool(false); + case kTrueType: + return handler.Bool(true); + + case kObjectType: + if (RAPIDJSON_UNLIKELY(!handler.StartObject())) return false; + for (ConstMemberIterator m = MemberBegin(); m != MemberEnd(); ++m) { + RAPIDJSON_ASSERT(m->name.IsString()); // User may change the type of + // name by MemberIterator. + if (RAPIDJSON_UNLIKELY( + !handler.Key(m->name.GetString(), m->name.GetStringLength(), + (m->name.data_.f.flags & kCopyFlag) != 0))) + return false; + if (RAPIDJSON_UNLIKELY(!m->value.Accept(handler))) return false; + } + return handler.EndObject(data_.o.size); + + case kArrayType: + if (RAPIDJSON_UNLIKELY(!handler.StartArray())) return false; + for (const GenericValue *v = Begin(); v != End(); ++v) + if (RAPIDJSON_UNLIKELY(!v->Accept(handler))) return false; + return handler.EndArray(data_.a.size); + + case kStringType: + return handler.String(GetString(), GetStringLength(), + (data_.f.flags & kCopyFlag) != 0); + + default: + RAPIDJSON_ASSERT(GetType() == kNumberType); + if (IsDouble()) + return handler.Double(data_.n.d); + else if (IsInt()) + return handler.Int(data_.n.i.i); + else if (IsUint()) + return handler.Uint(data_.n.u.u); + else if (IsInt64()) + return handler.Int64(data_.n.i64); + else + return handler.Uint64(data_.n.u64); + } + } + + private: + template + friend class GenericValue; + template + friend class GenericDocument; + + enum { + kBoolFlag = 0x0008, + kNumberFlag = 0x0010, + kIntFlag = 0x0020, + kUintFlag = 0x0040, + kInt64Flag = 0x0080, + kUint64Flag = 0x0100, + kDoubleFlag = 0x0200, + kStringFlag = 0x0400, + kCopyFlag = 0x0800, + kInlineStrFlag = 0x1000, + + // Initial flags of different types. + kNullFlag = kNullType, + kTrueFlag = kTrueType | kBoolFlag, + kFalseFlag = kFalseType | kBoolFlag, + kNumberIntFlag = kNumberType | kNumberFlag | kIntFlag | kInt64Flag, + kNumberUintFlag = + kNumberType | kNumberFlag | kUintFlag | kUint64Flag | kInt64Flag, + kNumberInt64Flag = kNumberType | kNumberFlag | kInt64Flag, + kNumberUint64Flag = kNumberType | kNumberFlag | kUint64Flag, + kNumberDoubleFlag = kNumberType | kNumberFlag | kDoubleFlag, + kNumberAnyFlag = kNumberType | kNumberFlag | kIntFlag | kInt64Flag | + kUintFlag | kUint64Flag | kDoubleFlag, + kConstStringFlag = kStringType | kStringFlag, + kCopyStringFlag = kStringType | kStringFlag | kCopyFlag, + kShortStringFlag = kStringType | kStringFlag | kCopyFlag | kInlineStrFlag, + kObjectFlag = kObjectType, + kArrayFlag = kArrayType, + + kTypeMask = 0x07 + }; + + static const SizeType kDefaultArrayCapacity = 16; + static const SizeType kDefaultObjectCapacity = 16; + + struct Flag { +#if RAPIDJSON_48BITPOINTER_OPTIMIZATION + char payload[sizeof(SizeType) * 2 + + 6]; // 2 x SizeType + lower 48-bit pointer +#elif RAPIDJSON_64BIT + char payload[sizeof(SizeType) * 2 + sizeof(void *) + 6]; // 6 padding bytes +#else + char payload[sizeof(SizeType) * 2 + sizeof(void *) + + 2]; // 2 padding bytes +#endif + uint16_t flags; + }; + + struct String { + SizeType length; + SizeType hashcode; //!< reserved + const Ch *str; + }; // 12 bytes in 32-bit mode, 16 bytes in 64-bit mode + + // implementation detail: ShortString can represent zero-terminated strings up + // to MaxSize chars (excluding the terminating zero) and store a value to + // determine the length of the contained string in the last character + // str[LenPos] by storing "MaxSize - length" there. If the string to store has + // the maximal length of MaxSize then str[LenPos] will be 0 and therefore act + // as the string terminator as well. For getting the string length back from + // that value just use "MaxSize - str[LenPos]". This allows to store 13-chars + // strings in 32-bit mode, 21-chars strings in 64-bit mode, 13-chars strings + // for RAPIDJSON_48BITPOINTER_OPTIMIZATION=1 inline (for `UTF8`-encoded + // strings). + struct ShortString { + enum { + MaxChars = sizeof(static_cast(0)->payload) / sizeof(Ch), + MaxSize = MaxChars - 1, + LenPos = MaxSize + }; + Ch str[MaxChars]; + + inline static bool Usable(SizeType len) { return (MaxSize >= len); } + inline void SetLength(SizeType len) { + str[LenPos] = static_cast(MaxSize - len); + } + inline SizeType GetLength() const { + return static_cast(MaxSize - str[LenPos]); + } + }; // at most as many bytes as "String" above => 12 bytes in 32-bit mode, 16 + // bytes in 64-bit mode + + // By using proper binary layout, retrieval of different integer types do not + // need conversions. + union Number { +#if RAPIDJSON_ENDIAN == RAPIDJSON_LITTLEENDIAN + struct I { + int i; + char padding[4]; + } i; + struct U { + unsigned u; + char padding2[4]; + } u; +#else + struct I { + char padding[4]; + int i; + } i; + struct U { + char padding2[4]; + unsigned u; + } u; +#endif + int64_t i64; + uint64_t u64; + double d; + }; // 8 bytes + + struct ObjectData { + SizeType size; + SizeType capacity; + Member *members; + }; // 12 bytes in 32-bit mode, 16 bytes in 64-bit mode + + struct ArrayData { + SizeType size; + SizeType capacity; + GenericValue *elements; + }; // 12 bytes in 32-bit mode, 16 bytes in 64-bit mode + + union Data { + String s; + ShortString ss; + Number n; + ObjectData o; + ArrayData a; + Flag f; + }; // 16 bytes in 32-bit mode, 24 bytes in 64-bit mode, 16 bytes in 64-bit + // with RAPIDJSON_48BITPOINTER_OPTIMIZATION + + RAPIDJSON_FORCEINLINE const Ch *GetStringPointer() const { + return RAPIDJSON_GETPOINTER(Ch, data_.s.str); + } + RAPIDJSON_FORCEINLINE const Ch *SetStringPointer(const Ch *str) { + return RAPIDJSON_SETPOINTER(Ch, data_.s.str, str); + } + RAPIDJSON_FORCEINLINE GenericValue *GetElementsPointer() const { + return RAPIDJSON_GETPOINTER(GenericValue, data_.a.elements); + } + RAPIDJSON_FORCEINLINE GenericValue *SetElementsPointer( + GenericValue *elements) { + return RAPIDJSON_SETPOINTER(GenericValue, data_.a.elements, elements); + } + RAPIDJSON_FORCEINLINE Member *GetMembersPointer() const { + return RAPIDJSON_GETPOINTER(Member, data_.o.members); + } + RAPIDJSON_FORCEINLINE Member *SetMembersPointer(Member *members) { + return RAPIDJSON_SETPOINTER(Member, data_.o.members, members); + } + + // Initialize this value as array with initial data, without calling + // destructor. + void SetArrayRaw(GenericValue *values, SizeType count, Allocator &allocator) { + data_.f.flags = kArrayFlag; + if (count) { + GenericValue *e = static_cast( + allocator.Malloc(count * sizeof(GenericValue))); + SetElementsPointer(e); + std::memcpy(static_cast(e), values, count * sizeof(GenericValue)); + } else + SetElementsPointer(0); + data_.a.size = data_.a.capacity = count; + } + + //! Initialize this value as object with initial data, without calling + //! destructor. + void SetObjectRaw(Member *members, SizeType count, Allocator &allocator) { + data_.f.flags = kObjectFlag; + if (count) { + Member *m = + static_cast(allocator.Malloc(count * sizeof(Member))); + SetMembersPointer(m); + std::memcpy(static_cast(m), members, count * sizeof(Member)); + } else + SetMembersPointer(0); + data_.o.size = data_.o.capacity = count; + } + + //! Initialize this value as constant string, without calling destructor. + void SetStringRaw(StringRefType s) RAPIDJSON_NOEXCEPT { + data_.f.flags = kConstStringFlag; + SetStringPointer(s); + data_.s.length = s.length; + } + + //! Initialize this value as copy string with initial data, without calling + //! destructor. + void SetStringRaw(StringRefType s, Allocator &allocator) { + Ch *str = 0; + if (ShortString::Usable(s.length)) { + data_.f.flags = kShortStringFlag; + data_.ss.SetLength(s.length); + str = data_.ss.str; + } else { + data_.f.flags = kCopyStringFlag; + data_.s.length = s.length; + str = static_cast(allocator.Malloc((s.length + 1) * sizeof(Ch))); + SetStringPointer(str); + } + std::memcpy(str, s, s.length * sizeof(Ch)); + str[s.length] = '\0'; + } + + //! Assignment without calling destructor + void RawAssign(GenericValue &rhs) RAPIDJSON_NOEXCEPT { + data_ = rhs.data_; + // data_.f.flags = rhs.data_.f.flags; + rhs.data_.f.flags = kNullFlag; + } + + template + bool StringEqual(const GenericValue &rhs) const { + RAPIDJSON_ASSERT(IsString()); + RAPIDJSON_ASSERT(rhs.IsString()); + + const SizeType len1 = GetStringLength(); + const SizeType len2 = rhs.GetStringLength(); + if (len1 != len2) { + return false; + } + + const Ch *const str1 = GetString(); + const Ch *const str2 = rhs.GetString(); + if (str1 == str2) { + return true; + } // fast path for constant string + + return (std::memcmp(str1, str2, sizeof(Ch) * len1) == 0); + } + + Data data_; +}; + +//! GenericValue with UTF8 encoding +typedef GenericValue> Value; + +/////////////////////////////////////////////////////////////////////////////// +// GenericDocument + +//! A document for parsing JSON text as DOM. +/*! + \note implements Handler concept + \tparam Encoding Encoding for both parsing and string storage. + \tparam Allocator Allocator for allocating memory for the DOM + \tparam StackAllocator Allocator for allocating memory for stack during + parsing. \warning Although GenericDocument inherits from GenericValue, the + API does \b not provide any virtual functions, especially no virtual + destructor. To avoid memory leaks, do not \c delete a GenericDocument object + via a pointer to a GenericValue. +*/ +template , + typename StackAllocator = CrtAllocator> +class GenericDocument : public GenericValue { + public: + typedef typename Encoding::Ch Ch; //!< Character type derived from Encoding. + typedef GenericValue + ValueType; //!< Value type of the document. + typedef Allocator AllocatorType; //!< Allocator type from template parameter. + + //! Constructor + /*! Creates an empty document of specified type. + \param type Mandatory type of object to create. + \param allocator Optional allocator for allocating memory. + \param stackCapacity Optional initial capacity of stack in bytes. + \param stackAllocator Optional allocator for allocating memory for + stack. + */ + explicit GenericDocument(Type type, Allocator *allocator = 0, + size_t stackCapacity = kDefaultStackCapacity, + StackAllocator *stackAllocator = 0) + : GenericValue(type), + allocator_(allocator), + ownAllocator_(0), + stack_(stackAllocator, stackCapacity), + parseResult_() { + if (!allocator_) ownAllocator_ = allocator_ = RAPIDJSON_NEW(Allocator)(); + } + + //! Constructor + /*! Creates an empty document which type is Null. + \param allocator Optional allocator for allocating memory. + \param stackCapacity Optional initial capacity of stack in bytes. + \param stackAllocator Optional allocator for allocating memory for + stack. + */ + GenericDocument(Allocator *allocator = 0, + size_t stackCapacity = kDefaultStackCapacity, + StackAllocator *stackAllocator = 0) + : allocator_(allocator), + ownAllocator_(0), + stack_(stackAllocator, stackCapacity), + parseResult_() { + if (!allocator_) ownAllocator_ = allocator_ = RAPIDJSON_NEW(Allocator)(); + } + +#if RAPIDJSON_HAS_CXX11_RVALUE_REFS + //! Move constructor in C++11 + GenericDocument(GenericDocument &&rhs) RAPIDJSON_NOEXCEPT + : ValueType(std::forward( + rhs)), // explicit cast to avoid prohibited move from Document + allocator_(rhs.allocator_), + ownAllocator_(rhs.ownAllocator_), + stack_(std::move(rhs.stack_)), + parseResult_(rhs.parseResult_) { + rhs.allocator_ = 0; + rhs.ownAllocator_ = 0; + rhs.parseResult_ = ParseResult(); + } +#endif + + ~GenericDocument() { Destroy(); } + +#if RAPIDJSON_HAS_CXX11_RVALUE_REFS + //! Move assignment in C++11 + GenericDocument &operator=(GenericDocument &&rhs) RAPIDJSON_NOEXCEPT { + // The cast to ValueType is necessary here, because otherwise it would + // attempt to call GenericValue's templated assignment operator. + ValueType::operator=(std::forward(rhs)); + + // Calling the destructor here would prematurely call stack_'s destructor + Destroy(); + + allocator_ = rhs.allocator_; + ownAllocator_ = rhs.ownAllocator_; + stack_ = std::move(rhs.stack_); + parseResult_ = rhs.parseResult_; + + rhs.allocator_ = 0; + rhs.ownAllocator_ = 0; + rhs.parseResult_ = ParseResult(); + + return *this; + } +#endif + + //! Exchange the contents of this document with those of another. + /*! + \param rhs Another document. + \note Constant complexity. + \see GenericValue::Swap + */ + GenericDocument &Swap(GenericDocument &rhs) RAPIDJSON_NOEXCEPT { + ValueType::Swap(rhs); + stack_.Swap(rhs.stack_); + internal::Swap(allocator_, rhs.allocator_); + internal::Swap(ownAllocator_, rhs.ownAllocator_); + internal::Swap(parseResult_, rhs.parseResult_); + return *this; + } + + // Allow Swap with ValueType. + // Refer to Effective C++ 3rd Edition/Item 33: Avoid hiding inherited names. + using ValueType::Swap; + + //! free-standing swap function helper + /*! + Helper function to enable support for common swap implementation pattern + based on \c std::swap: \code void swap(MyClass& a, MyClass& b) { using + std::swap; swap(a.doc, b.doc); + // ... + } + \endcode + \see Swap() + */ + friend inline void swap(GenericDocument &a, + GenericDocument &b) RAPIDJSON_NOEXCEPT { + a.Swap(b); + } + + //! Populate this document by a generator which produces SAX events. + /*! \tparam Generator A functor with bool f(Handler) prototype. + \param g Generator functor which sends SAX events to the parameter. + \return The document itself for fluent API. + */ + template + GenericDocument &Populate(Generator &g) { + ClearStackOnExit scope(*this); + if (g(*this)) { + RAPIDJSON_ASSERT(stack_.GetSize() == + sizeof(ValueType)); // Got one and only one root object + ValueType::operator=(*stack_.template Pop( + 1)); // Move value from stack to document + } + return *this; + } + + //!@name Parse from stream + //!@{ + + //! Parse JSON text from an input stream (with Encoding conversion) + /*! \tparam parseFlags Combination of \ref ParseFlag. + \tparam SourceEncoding Encoding of input stream + \tparam InputStream Type of input stream, implementing Stream concept + \param is Input stream to be parsed. + \return The document itself for fluent API. + */ + template + GenericDocument &ParseStream(InputStream &is) { + GenericReader reader( + stack_.HasAllocator() ? &stack_.GetAllocator() : 0); + ClearStackOnExit scope(*this); + parseResult_ = reader.template Parse(is, *this); + if (parseResult_) { + RAPIDJSON_ASSERT(stack_.GetSize() == + sizeof(ValueType)); // Got one and only one root object + ValueType::operator=(*stack_.template Pop( + 1)); // Move value from stack to document + } + return *this; + } + + //! Parse JSON text from an input stream + /*! \tparam parseFlags Combination of \ref ParseFlag. + \tparam InputStream Type of input stream, implementing Stream concept + \param is Input stream to be parsed. + \return The document itself for fluent API. + */ + template + GenericDocument &ParseStream(InputStream &is) { + return ParseStream(is); + } + + //! Parse JSON text from an input stream (with \ref kParseDefaultFlags) + /*! \tparam InputStream Type of input stream, implementing Stream concept + \param is Input stream to be parsed. + \return The document itself for fluent API. + */ + template + GenericDocument &ParseStream(InputStream &is) { + return ParseStream(is); + } + //!@} + + //!@name Parse in-place from mutable string + //!@{ + + //! Parse JSON text from a mutable string + /*! \tparam parseFlags Combination of \ref ParseFlag. + \param str Mutable zero-terminated string to be parsed. + \return The document itself for fluent API. + */ + template + GenericDocument &ParseInsitu(Ch *str) { + GenericInsituStringStream s(str); + return ParseStream(s); + } + + //! Parse JSON text from a mutable string (with \ref kParseDefaultFlags) + /*! \param str Mutable zero-terminated string to be parsed. + \return The document itself for fluent API. + */ + GenericDocument &ParseInsitu(Ch *str) { + return ParseInsitu(str); + } + //!@} + + //!@name Parse from read-only string + //!@{ + + //! Parse JSON text from a read-only string (with Encoding conversion) + /*! \tparam parseFlags Combination of \ref ParseFlag (must not contain \ref + kParseInsituFlag). \tparam SourceEncoding Transcoding from input Encoding + \param str Read-only zero-terminated string to be parsed. + */ + template + GenericDocument &Parse(const typename SourceEncoding::Ch *str) { + RAPIDJSON_ASSERT(!(parseFlags & kParseInsituFlag)); + GenericStringStream s(str); + return ParseStream(s); + } + + //! Parse JSON text from a read-only string + /*! \tparam parseFlags Combination of \ref ParseFlag (must not contain \ref + kParseInsituFlag). \param str Read-only zero-terminated string to be + parsed. + */ + template + GenericDocument &Parse(const Ch *str) { + return Parse(str); + } + + //! Parse JSON text from a read-only string (with \ref kParseDefaultFlags) + /*! \param str Read-only zero-terminated string to be parsed. + */ + GenericDocument &Parse(const Ch *str) { + return Parse(str); + } + + template + GenericDocument &Parse(const typename SourceEncoding::Ch *str, + size_t length) { + RAPIDJSON_ASSERT(!(parseFlags & kParseInsituFlag)); + MemoryStream ms(reinterpret_cast(str), + length * sizeof(typename SourceEncoding::Ch)); + EncodedInputStream is(ms); + ParseStream(is); + return *this; + } + + template + GenericDocument &Parse(const Ch *str, size_t length) { + return Parse(str, length); + } + + GenericDocument &Parse(const Ch *str, size_t length) { + return Parse(str, length); + } + +#if RAPIDJSON_HAS_STDSTRING + template + GenericDocument &Parse( + const std::basic_string &str) { + // c_str() is constant complexity according to standard. Should be faster + // than Parse(const char*, size_t) + return Parse(str.c_str()); + } + + template + GenericDocument &Parse(const std::basic_string &str) { + return Parse(str.c_str()); + } + + GenericDocument &Parse(const std::basic_string &str) { + return Parse(str); + } +#endif // RAPIDJSON_HAS_STDSTRING + + //!@} + + //!@name Handling parse errors + //!@{ + + //! Whether a parse error has occurred in the last parsing. + bool HasParseError() const { return parseResult_.IsError(); } + + //! Get the \ref ParseErrorCode of last parsing. + ParseErrorCode GetParseError() const { return parseResult_.Code(); } + + //! Get the position of last parsing error in input, 0 otherwise. + size_t GetErrorOffset() const { return parseResult_.Offset(); } + +//! Implicit conversion to get the last parse result +#ifndef __clang // -Wdocumentation +/*! \return \ref ParseResult of the last parse operation + + \code + Document doc; + ParseResult ok = doc.Parse(json); + if (!ok) + printf( "JSON parse error: %s (%u)\n", GetParseError_En(ok.Code()), + ok.Offset()); \endcode + */ +#endif + operator ParseResult() const { return parseResult_; } + //!@} + + //! Get the allocator of this document. + Allocator &GetAllocator() { + RAPIDJSON_ASSERT(allocator_); + return *allocator_; + } + + //! Get the capacity of stack in bytes. + size_t GetStackCapacity() const { return stack_.GetCapacity(); } + + private: + // clear stack on any exit from ParseStream, e.g. due to exception + struct ClearStackOnExit { + explicit ClearStackOnExit(GenericDocument &d) : d_(d) {} + ~ClearStackOnExit() { d_.ClearStack(); } + + private: + ClearStackOnExit(const ClearStackOnExit &); + ClearStackOnExit &operator=(const ClearStackOnExit &); + GenericDocument &d_; + }; + + // callers of the following private Handler functions + // template friend class GenericReader; // for + // parsing + template + friend class GenericValue; // for deep copying + + public: + // Implementation of Handler + bool Null() { + new (stack_.template Push()) ValueType(); + return true; + } + bool Bool(bool b) { + new (stack_.template Push()) ValueType(b); + return true; + } + bool Int(int i) { + new (stack_.template Push()) ValueType(i); + return true; + } + bool Uint(unsigned i) { + new (stack_.template Push()) ValueType(i); + return true; + } + bool Int64(int64_t i) { + new (stack_.template Push()) ValueType(i); + return true; + } + bool Uint64(uint64_t i) { + new (stack_.template Push()) ValueType(i); + return true; + } + bool Double(double d) { + new (stack_.template Push()) ValueType(d); + return true; + } + + bool RawNumber(const Ch *str, SizeType length, bool copy) { + if (copy) + new (stack_.template Push()) + ValueType(str, length, GetAllocator()); + else + new (stack_.template Push()) ValueType(str, length); + return true; + } + + bool String(const Ch *str, SizeType length, bool copy) { + if (copy) + new (stack_.template Push()) + ValueType(str, length, GetAllocator()); + else + new (stack_.template Push()) ValueType(str, length); + return true; + } + + bool StartObject() { + new (stack_.template Push()) ValueType(kObjectType); + return true; + } + + bool Key(const Ch *str, SizeType length, bool copy) { + return String(str, length, copy); + } + + bool EndObject(SizeType memberCount) { + typename ValueType::Member *members = + stack_.template Pop(memberCount); + stack_.template Top()->SetObjectRaw(members, memberCount, + GetAllocator()); + return true; + } + + bool StartArray() { + new (stack_.template Push()) ValueType(kArrayType); + return true; + } + + bool EndArray(SizeType elementCount) { + ValueType *elements = stack_.template Pop(elementCount); + stack_.template Top()->SetArrayRaw(elements, elementCount, + GetAllocator()); + return true; + } + + private: + //! Prohibit copying + GenericDocument(const GenericDocument &); + //! Prohibit assignment + GenericDocument &operator=(const GenericDocument &); + + void ClearStack() { + if (Allocator::kNeedFree) + while (stack_.GetSize() > + 0) // Here assumes all elements in stack array are GenericValue + // (Member is actually 2 GenericValue objects) + (stack_.template Pop(1))->~ValueType(); + else + stack_.Clear(); + stack_.ShrinkToFit(); + } + + void Destroy() { RAPIDJSON_DELETE(ownAllocator_); } + + static const size_t kDefaultStackCapacity = 1024; + Allocator *allocator_; + Allocator *ownAllocator_; + internal::Stack stack_; + ParseResult parseResult_; +}; + +//! GenericDocument with UTF8 encoding +typedef GenericDocument> Document; + +//! Helper class for accessing Value of array type. +/*! + Instance of this helper class is obtained by \c GenericValue::GetArray(). + In addition to all APIs for array type, it provides range-based for loop if + \c RAPIDJSON_HAS_CXX11_RANGE_FOR=1. +*/ +template +class GenericArray { + public: + typedef GenericArray ConstArray; + typedef GenericArray Array; + typedef ValueT PlainType; + typedef typename internal::MaybeAddConst::Type ValueType; + typedef ValueType *ValueIterator; // This may be const or non-const iterator + typedef const ValueT *ConstValueIterator; + typedef typename ValueType::AllocatorType AllocatorType; + typedef typename ValueType::StringRefType StringRefType; + + template + friend class GenericValue; + + GenericArray(const GenericArray &rhs) : value_(rhs.value_) {} + GenericArray &operator=(const GenericArray &rhs) { + value_ = rhs.value_; + return *this; + } + ~GenericArray() {} + + SizeType Size() const { return value_.Size(); } + SizeType Capacity() const { return value_.Capacity(); } + bool Empty() const { return value_.Empty(); } + void Clear() const { value_.Clear(); } + ValueType &operator[](SizeType index) const { return value_[index]; } + ValueIterator Begin() const { return value_.Begin(); } + ValueIterator End() const { return value_.End(); } + GenericArray Reserve(SizeType newCapacity, AllocatorType &allocator) const { + value_.Reserve(newCapacity, allocator); + return *this; + } + GenericArray PushBack(ValueType &value, AllocatorType &allocator) const { + value_.PushBack(value, allocator); + return *this; + } +#if RAPIDJSON_HAS_CXX11_RVALUE_REFS + GenericArray PushBack(ValueType &&value, AllocatorType &allocator) const { + value_.PushBack(value, allocator); + return *this; + } +#endif // RAPIDJSON_HAS_CXX11_RVALUE_REFS + GenericArray PushBack(StringRefType value, AllocatorType &allocator) const { + value_.PushBack(value, allocator); + return *this; + } + template + RAPIDJSON_DISABLEIF_RETURN( + (internal::OrExpr, internal::IsGenericValue>), + (const GenericArray &)) + PushBack(T value, AllocatorType &allocator) const { + value_.PushBack(value, allocator); + return *this; + } + GenericArray PopBack() const { + value_.PopBack(); + return *this; + } + ValueIterator Erase(ConstValueIterator pos) const { + return value_.Erase(pos); + } + ValueIterator Erase(ConstValueIterator first, ConstValueIterator last) const { + return value_.Erase(first, last); + } + +#if RAPIDJSON_HAS_CXX11_RANGE_FOR + ValueIterator begin() const { return value_.Begin(); } + ValueIterator end() const { return value_.End(); } +#endif + + private: + GenericArray(); + GenericArray(ValueType &value) : value_(value) {} + ValueType &value_; +}; + +//! Helper class for accessing Value of object type. +/*! + Instance of this helper class is obtained by \c GenericValue::GetObject(). + In addition to all APIs for array type, it provides range-based for loop if + \c RAPIDJSON_HAS_CXX11_RANGE_FOR=1. +*/ +template +class GenericObject { + public: + typedef GenericObject ConstObject; + typedef GenericObject Object; + typedef ValueT PlainType; + typedef typename internal::MaybeAddConst::Type ValueType; + typedef GenericMemberIterator + MemberIterator; // This may be const or non-const iterator + typedef GenericMemberIterator + ConstMemberIterator; + typedef typename ValueType::AllocatorType AllocatorType; + typedef typename ValueType::StringRefType StringRefType; + typedef typename ValueType::EncodingType EncodingType; + typedef typename ValueType::Ch Ch; + + template + friend class GenericValue; + + GenericObject(const GenericObject &rhs) : value_(rhs.value_) {} + GenericObject &operator=(const GenericObject &rhs) { + value_ = rhs.value_; + return *this; + } + ~GenericObject() {} + + SizeType MemberCount() const { return value_.MemberCount(); } + SizeType MemberCapacity() const { return value_.MemberCapacity(); } + bool ObjectEmpty() const { return value_.ObjectEmpty(); } + template + ValueType &operator[](T *name) const { + return value_[name]; + } + template + ValueType &operator[]( + const GenericValue &name) const { + return value_[name]; + } +#if RAPIDJSON_HAS_STDSTRING + ValueType &operator[](const std::basic_string &name) const { + return value_[name]; + } +#endif + MemberIterator MemberBegin() const { return value_.MemberBegin(); } + MemberIterator MemberEnd() const { return value_.MemberEnd(); } + GenericObject MemberReserve(SizeType newCapacity, + AllocatorType &allocator) const { + value_.MemberReserve(newCapacity, allocator); + return *this; + } + bool HasMember(const Ch *name) const { return value_.HasMember(name); } +#if RAPIDJSON_HAS_STDSTRING + bool HasMember(const std::basic_string &name) const { + return value_.HasMember(name); + } +#endif + template + bool HasMember( + const GenericValue &name) const { + return value_.HasMember(name); + } + MemberIterator FindMember(const Ch *name) const { + return value_.FindMember(name); + } + template + MemberIterator FindMember( + const GenericValue &name) const { + return value_.FindMember(name); + } +#if RAPIDJSON_HAS_STDSTRING + MemberIterator FindMember(const std::basic_string &name) const { + return value_.FindMember(name); + } +#endif + GenericObject AddMember(ValueType &name, ValueType &value, + AllocatorType &allocator) const { + value_.AddMember(name, value, allocator); + return *this; + } + GenericObject AddMember(ValueType &name, StringRefType value, + AllocatorType &allocator) const { + value_.AddMember(name, value, allocator); + return *this; + } +#if RAPIDJSON_HAS_STDSTRING + GenericObject AddMember(ValueType &name, std::basic_string &value, + AllocatorType &allocator) const { + value_.AddMember(name, value, allocator); + return *this; + } +#endif + template + RAPIDJSON_DISABLEIF_RETURN( + (internal::OrExpr, internal::IsGenericValue>), + (ValueType &)) + AddMember(ValueType &name, T value, AllocatorType &allocator) const { + value_.AddMember(name, value, allocator); + return *this; + } +#if RAPIDJSON_HAS_CXX11_RVALUE_REFS + GenericObject AddMember(ValueType &&name, ValueType &&value, + AllocatorType &allocator) const { + value_.AddMember(name, value, allocator); + return *this; + } + GenericObject AddMember(ValueType &&name, ValueType &value, + AllocatorType &allocator) const { + value_.AddMember(name, value, allocator); + return *this; + } + GenericObject AddMember(ValueType &name, ValueType &&value, + AllocatorType &allocator) const { + value_.AddMember(name, value, allocator); + return *this; + } + GenericObject AddMember(StringRefType name, ValueType &&value, + AllocatorType &allocator) const { + value_.AddMember(name, value, allocator); + return *this; + } +#endif // RAPIDJSON_HAS_CXX11_RVALUE_REFS + GenericObject AddMember(StringRefType name, ValueType &value, + AllocatorType &allocator) const { + value_.AddMember(name, value, allocator); + return *this; + } + GenericObject AddMember(StringRefType name, StringRefType value, + AllocatorType &allocator) const { + value_.AddMember(name, value, allocator); + return *this; + } + template + RAPIDJSON_DISABLEIF_RETURN( + (internal::OrExpr, internal::IsGenericValue>), + (GenericObject)) + AddMember(StringRefType name, T value, AllocatorType &allocator) const { + value_.AddMember(name, value, allocator); + return *this; + } + void RemoveAllMembers() { value_.RemoveAllMembers(); } + bool RemoveMember(const Ch *name) const { return value_.RemoveMember(name); } +#if RAPIDJSON_HAS_STDSTRING + bool RemoveMember(const std::basic_string &name) const { + return value_.RemoveMember(name); + } +#endif + template + bool RemoveMember( + const GenericValue &name) const { + return value_.RemoveMember(name); + } + MemberIterator RemoveMember(MemberIterator m) const { + return value_.RemoveMember(m); + } + MemberIterator EraseMember(ConstMemberIterator pos) const { + return value_.EraseMember(pos); + } + MemberIterator EraseMember(ConstMemberIterator first, + ConstMemberIterator last) const { + return value_.EraseMember(first, last); + } + bool EraseMember(const Ch *name) const { return value_.EraseMember(name); } +#if RAPIDJSON_HAS_STDSTRING + bool EraseMember(const std::basic_string &name) const { + return EraseMember(ValueType(StringRef(name))); + } +#endif + template + bool EraseMember( + const GenericValue &name) const { + return value_.EraseMember(name); + } + +#if RAPIDJSON_HAS_CXX11_RANGE_FOR + MemberIterator begin() const { return value_.MemberBegin(); } + MemberIterator end() const { return value_.MemberEnd(); } +#endif + + private: + GenericObject(); + GenericObject(ValueType &value) : value_(value) {} + ValueType &value_; +}; + +RAPIDJSON_NAMESPACE_END +RAPIDJSON_DIAG_POP + +#endif // RAPIDJSON_DOCUMENT_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/encodedstream.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/encodedstream.h new file mode 100644 index 0000000..74ef4ca --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/encodedstream.h @@ -0,0 +1,407 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_ENCODEDSTREAM_H_ +#define RAPIDJSON_ENCODEDSTREAM_H_ + +#include "memorystream.h" +#include "stream.h" + +#ifdef __GNUC__ +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(effc++) +#endif + +#ifdef __clang__ +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(padded) +#endif + +RAPIDJSON_NAMESPACE_BEGIN + +//! Input byte stream wrapper with a statically bound encoding. +/*! + \tparam Encoding The interpretation of encoding of the stream. Either UTF8, + UTF16LE, UTF16BE, UTF32LE, UTF32BE. \tparam InputByteStream Type of input + byte stream. For example, FileReadStream. +*/ +template +class EncodedInputStream { + RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1); + + public: + typedef typename Encoding::Ch Ch; + + EncodedInputStream(InputByteStream &is) : is_(is) { + current_ = Encoding::TakeBOM(is_); + } + + Ch Peek() const { return current_; } + Ch Take() { + Ch c = current_; + current_ = Encoding::Take(is_); + return c; + } + size_t Tell() const { return is_.Tell(); } + + // Not implemented + void Put(Ch) { RAPIDJSON_ASSERT(false); } + void Flush() { RAPIDJSON_ASSERT(false); } + Ch *PutBegin() { + RAPIDJSON_ASSERT(false); + return 0; + } + size_t PutEnd(Ch *) { + RAPIDJSON_ASSERT(false); + return 0; + } + + private: + EncodedInputStream(const EncodedInputStream &); + EncodedInputStream &operator=(const EncodedInputStream &); + + InputByteStream &is_; + Ch current_; +}; + +//! Specialized for UTF8 MemoryStream. +template <> +class EncodedInputStream, MemoryStream> { + public: + typedef UTF8<>::Ch Ch; + + EncodedInputStream(MemoryStream &is) : is_(is) { + if (static_cast(is_.Peek()) == 0xEFu) is_.Take(); + if (static_cast(is_.Peek()) == 0xBBu) is_.Take(); + if (static_cast(is_.Peek()) == 0xBFu) is_.Take(); + } + Ch Peek() const { return is_.Peek(); } + Ch Take() { return is_.Take(); } + size_t Tell() const { return is_.Tell(); } + + // Not implemented + void Put(Ch) {} + void Flush() {} + Ch *PutBegin() { return 0; } + size_t PutEnd(Ch *) { return 0; } + + MemoryStream &is_; + + private: + EncodedInputStream(const EncodedInputStream &); + EncodedInputStream &operator=(const EncodedInputStream &); +}; + +//! Output byte stream wrapper with statically bound encoding. +/*! + \tparam Encoding The interpretation of encoding of the stream. Either UTF8, + UTF16LE, UTF16BE, UTF32LE, UTF32BE. \tparam OutputByteStream Type of input + byte stream. For example, FileWriteStream. +*/ +template +class EncodedOutputStream { + RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1); + + public: + typedef typename Encoding::Ch Ch; + + EncodedOutputStream(OutputByteStream &os, bool putBOM = true) : os_(os) { + if (putBOM) Encoding::PutBOM(os_); + } + + void Put(Ch c) { Encoding::Put(os_, c); } + void Flush() { os_.Flush(); } + + // Not implemented + Ch Peek() const { + RAPIDJSON_ASSERT(false); + return 0; + } + Ch Take() { + RAPIDJSON_ASSERT(false); + return 0; + } + size_t Tell() const { + RAPIDJSON_ASSERT(false); + return 0; + } + Ch *PutBegin() { + RAPIDJSON_ASSERT(false); + return 0; + } + size_t PutEnd(Ch *) { + RAPIDJSON_ASSERT(false); + return 0; + } + + private: + EncodedOutputStream(const EncodedOutputStream &); + EncodedOutputStream &operator=(const EncodedOutputStream &); + + OutputByteStream &os_; +}; + +#define RAPIDJSON_ENCODINGS_FUNC(x) \ + UTF8::x, UTF16LE::x, UTF16BE::x, UTF32LE::x, UTF32BE::x + +//! Input stream wrapper with dynamically bound encoding and automatic encoding +//! detection. +/*! + \tparam CharType Type of character for reading. + \tparam InputByteStream type of input byte stream to be wrapped. +*/ +template +class AutoUTFInputStream { + RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1); + + public: + typedef CharType Ch; + + //! Constructor. + /*! + \param is input stream to be wrapped. + \param type UTF encoding type if it is not detected from the stream. + */ + AutoUTFInputStream(InputByteStream &is, UTFType type = kUTF8) + : is_(&is), type_(type), hasBOM_(false) { + RAPIDJSON_ASSERT(type >= kUTF8 && type <= kUTF32BE); + DetectType(); + static const TakeFunc f[] = {RAPIDJSON_ENCODINGS_FUNC(Take)}; + takeFunc_ = f[type_]; + current_ = takeFunc_(*is_); + } + + UTFType GetType() const { return type_; } + bool HasBOM() const { return hasBOM_; } + + Ch Peek() const { return current_; } + Ch Take() { + Ch c = current_; + current_ = takeFunc_(*is_); + return c; + } + size_t Tell() const { return is_->Tell(); } + + // Not implemented + void Put(Ch) { RAPIDJSON_ASSERT(false); } + void Flush() { RAPIDJSON_ASSERT(false); } + Ch *PutBegin() { + RAPIDJSON_ASSERT(false); + return 0; + } + size_t PutEnd(Ch *) { + RAPIDJSON_ASSERT(false); + return 0; + } + + private: + AutoUTFInputStream(const AutoUTFInputStream &); + AutoUTFInputStream &operator=(const AutoUTFInputStream &); + + // Detect encoding type with BOM or RFC 4627 + void DetectType() { + // BOM (Byte Order Mark): + // 00 00 FE FF UTF-32BE + // FF FE 00 00 UTF-32LE + // FE FF UTF-16BE + // FF FE UTF-16LE + // EF BB BF UTF-8 + + const unsigned char *c = + reinterpret_cast(is_->Peek4()); + if (!c) return; + + unsigned bom = + static_cast(c[0] | (c[1] << 8) | (c[2] << 16) | (c[3] << 24)); + hasBOM_ = false; + if (bom == 0xFFFE0000) { + type_ = kUTF32BE; + hasBOM_ = true; + is_->Take(); + is_->Take(); + is_->Take(); + is_->Take(); + } else if (bom == 0x0000FEFF) { + type_ = kUTF32LE; + hasBOM_ = true; + is_->Take(); + is_->Take(); + is_->Take(); + is_->Take(); + } else if ((bom & 0xFFFF) == 0xFFFE) { + type_ = kUTF16BE; + hasBOM_ = true; + is_->Take(); + is_->Take(); + } else if ((bom & 0xFFFF) == 0xFEFF) { + type_ = kUTF16LE; + hasBOM_ = true; + is_->Take(); + is_->Take(); + } else if ((bom & 0xFFFFFF) == 0xBFBBEF) { + type_ = kUTF8; + hasBOM_ = true; + is_->Take(); + is_->Take(); + is_->Take(); + } + + // RFC 4627: Section 3 + // "Since the first two characters of a JSON text will always be ASCII + // characters [RFC0020], it is possible to determine whether an octet + // stream is UTF-8, UTF-16 (BE or LE), or UTF-32 (BE or LE) by looking + // at the pattern of nulls in the first four octets." + // 00 00 00 xx UTF-32BE + // 00 xx 00 xx UTF-16BE + // xx 00 00 00 UTF-32LE + // xx 00 xx 00 UTF-16LE + // xx xx xx xx UTF-8 + + if (!hasBOM_) { + int pattern = + (c[0] ? 1 : 0) | (c[1] ? 2 : 0) | (c[2] ? 4 : 0) | (c[3] ? 8 : 0); + switch (pattern) { + case 0x08: + type_ = kUTF32BE; + break; + case 0x0A: + type_ = kUTF16BE; + break; + case 0x01: + type_ = kUTF32LE; + break; + case 0x05: + type_ = kUTF16LE; + break; + case 0x0F: + type_ = kUTF8; + break; + default: + break; // Use type defined by user. + } + } + + // Runtime check whether the size of character type is sufficient. It only + // perform checks with assertion. + if (type_ == kUTF16LE || type_ == kUTF16BE) + RAPIDJSON_ASSERT(sizeof(Ch) >= 2); + if (type_ == kUTF32LE || type_ == kUTF32BE) + RAPIDJSON_ASSERT(sizeof(Ch) >= 4); + } + + typedef Ch (*TakeFunc)(InputByteStream &is); + InputByteStream *is_; + UTFType type_; + Ch current_; + TakeFunc takeFunc_; + bool hasBOM_; +}; + +//! Output stream wrapper with dynamically bound encoding and automatic encoding +//! detection. +/*! + \tparam CharType Type of character for writing. + \tparam OutputByteStream type of output byte stream to be wrapped. +*/ +template +class AutoUTFOutputStream { + RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1); + + public: + typedef CharType Ch; + + //! Constructor. + /*! + \param os output stream to be wrapped. + \param type UTF encoding type. + \param putBOM Whether to write BOM at the beginning of the stream. + */ + AutoUTFOutputStream(OutputByteStream &os, UTFType type, bool putBOM) + : os_(&os), type_(type) { + RAPIDJSON_ASSERT(type >= kUTF8 && type <= kUTF32BE); + + // Runtime check whether the size of character type is sufficient. It only + // perform checks with assertion. + if (type_ == kUTF16LE || type_ == kUTF16BE) + RAPIDJSON_ASSERT(sizeof(Ch) >= 2); + if (type_ == kUTF32LE || type_ == kUTF32BE) + RAPIDJSON_ASSERT(sizeof(Ch) >= 4); + + static const PutFunc f[] = {RAPIDJSON_ENCODINGS_FUNC(Put)}; + putFunc_ = f[type_]; + + if (putBOM) PutBOM(); + } + + UTFType GetType() const { return type_; } + + void Put(Ch c) { putFunc_(*os_, c); } + void Flush() { os_->Flush(); } + + // Not implemented + Ch Peek() const { + RAPIDJSON_ASSERT(false); + return 0; + } + Ch Take() { + RAPIDJSON_ASSERT(false); + return 0; + } + size_t Tell() const { + RAPIDJSON_ASSERT(false); + return 0; + } + Ch *PutBegin() { + RAPIDJSON_ASSERT(false); + return 0; + } + size_t PutEnd(Ch *) { + RAPIDJSON_ASSERT(false); + return 0; + } + + private: + AutoUTFOutputStream(const AutoUTFOutputStream &); + AutoUTFOutputStream &operator=(const AutoUTFOutputStream &); + + void PutBOM() { + typedef void (*PutBOMFunc)(OutputByteStream &); + static const PutBOMFunc f[] = {RAPIDJSON_ENCODINGS_FUNC(PutBOM)}; + f[type_](*os_); + } + + typedef void (*PutFunc)(OutputByteStream &, Ch); + + OutputByteStream *os_; + UTFType type_; + PutFunc putFunc_; +}; + +#undef RAPIDJSON_ENCODINGS_FUNC + +RAPIDJSON_NAMESPACE_END + +#ifdef __clang__ +RAPIDJSON_DIAG_POP +#endif + +#ifdef __GNUC__ +RAPIDJSON_DIAG_POP +#endif + +#endif // RAPIDJSON_FILESTREAM_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/encodings.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/encodings.h new file mode 100644 index 0000000..34521cc --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/encodings.h @@ -0,0 +1,816 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_ENCODINGS_H_ +#define RAPIDJSON_ENCODINGS_H_ + +#include "rapidjson.h" + +#if defined(_MSC_VER) && !defined(__clang__) +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF( + 4244) // conversion from 'type1' to 'type2', possible loss of data +RAPIDJSON_DIAG_OFF(4702) // unreachable code +#elif defined(__GNUC__) +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(effc++) +RAPIDJSON_DIAG_OFF(overflow) +#endif + +RAPIDJSON_NAMESPACE_BEGIN + +/////////////////////////////////////////////////////////////////////////////// +// Encoding + +/*! \class rapidjson::Encoding + \brief Concept for encoding of Unicode characters. + +\code +concept Encoding { + typename Ch; //! Type of character. A "character" is actually a code unit +in unicode's definition. + + enum { supportUnicode = 1 }; // or 0 if not supporting unicode + + //! \brief Encode a Unicode codepoint to an output stream. + //! \param os Output stream. + //! \param codepoint An unicode codepoint, ranging from 0x0 to 0x10FFFF +inclusively. template static void Encode(OutputStream& +os, unsigned codepoint); + + //! \brief Decode a Unicode codepoint from an input stream. + //! \param is Input stream. + //! \param codepoint Output of the unicode codepoint. + //! \return true if a valid codepoint can be decoded from the stream. + template + static bool Decode(InputStream& is, unsigned* codepoint); + + //! \brief Validate one Unicode codepoint from an encoded stream. + //! \param is Input stream to obtain codepoint. + //! \param os Output for copying one codepoint. + //! \return true if it is valid. + //! \note This function just validating and copying the codepoint without +actually decode it. template + static bool Validate(InputStream& is, OutputStream& os); + + // The following functions are deal with byte streams. + + //! Take a character from input byte stream, skip BOM if exist. + template + static CharType TakeBOM(InputByteStream& is); + + //! Take a character from input byte stream. + template + static Ch Take(InputByteStream& is); + + //! Put BOM to output byte stream. + template + static void PutBOM(OutputByteStream& os); + + //! Put a character to output byte stream. + template + static void Put(OutputByteStream& os, Ch c); +}; +\endcode +*/ + +/////////////////////////////////////////////////////////////////////////////// +// UTF8 + +//! UTF-8 encoding. +/*! http://en.wikipedia.org/wiki/UTF-8 + http://tools.ietf.org/html/rfc3629 + \tparam CharType Code unit for storing 8-bit UTF-8 data. Default is char. + \note implements Encoding concept +*/ +template +struct UTF8 { + typedef CharType Ch; + + enum { supportUnicode = 1 }; + + template + static void Encode(OutputStream &os, unsigned codepoint) { + if (codepoint <= 0x7F) + os.Put(static_cast(codepoint & 0xFF)); + else if (codepoint <= 0x7FF) { + os.Put(static_cast(0xC0 | ((codepoint >> 6) & 0xFF))); + os.Put(static_cast(0x80 | ((codepoint & 0x3F)))); + } else if (codepoint <= 0xFFFF) { + os.Put(static_cast(0xE0 | ((codepoint >> 12) & 0xFF))); + os.Put(static_cast(0x80 | ((codepoint >> 6) & 0x3F))); + os.Put(static_cast(0x80 | (codepoint & 0x3F))); + } else { + RAPIDJSON_ASSERT(codepoint <= 0x10FFFF); + os.Put(static_cast(0xF0 | ((codepoint >> 18) & 0xFF))); + os.Put(static_cast(0x80 | ((codepoint >> 12) & 0x3F))); + os.Put(static_cast(0x80 | ((codepoint >> 6) & 0x3F))); + os.Put(static_cast(0x80 | (codepoint & 0x3F))); + } + } + + template + static void EncodeUnsafe(OutputStream &os, unsigned codepoint) { + if (codepoint <= 0x7F) + PutUnsafe(os, static_cast(codepoint & 0xFF)); + else if (codepoint <= 0x7FF) { + PutUnsafe(os, static_cast(0xC0 | ((codepoint >> 6) & 0xFF))); + PutUnsafe(os, static_cast(0x80 | ((codepoint & 0x3F)))); + } else if (codepoint <= 0xFFFF) { + PutUnsafe(os, static_cast(0xE0 | ((codepoint >> 12) & 0xFF))); + PutUnsafe(os, static_cast(0x80 | ((codepoint >> 6) & 0x3F))); + PutUnsafe(os, static_cast(0x80 | (codepoint & 0x3F))); + } else { + RAPIDJSON_ASSERT(codepoint <= 0x10FFFF); + PutUnsafe(os, static_cast(0xF0 | ((codepoint >> 18) & 0xFF))); + PutUnsafe(os, static_cast(0x80 | ((codepoint >> 12) & 0x3F))); + PutUnsafe(os, static_cast(0x80 | ((codepoint >> 6) & 0x3F))); + PutUnsafe(os, static_cast(0x80 | (codepoint & 0x3F))); + } + } + + template + static bool Decode(InputStream &is, unsigned *codepoint) { +#define RAPIDJSON_COPY() \ + c = is.Take(); \ + *codepoint = (*codepoint << 6) | (static_cast(c) & 0x3Fu) +#define RAPIDJSON_TRANS(mask) \ + result &= ((GetRange(static_cast(c)) & mask) != 0) +#define RAPIDJSON_TAIL() \ + RAPIDJSON_COPY(); \ + RAPIDJSON_TRANS(0x70) + typename InputStream::Ch c = is.Take(); + if (!(c & 0x80)) { + *codepoint = static_cast(c); + return true; + } + + unsigned char type = GetRange(static_cast(c)); + if (type >= 32) { + *codepoint = 0; + } else { + *codepoint = (0xFFu >> type) & static_cast(c); + } + bool result = true; + switch (type) { + case 2: + RAPIDJSON_TAIL(); + return result; + case 3: + RAPIDJSON_TAIL(); + RAPIDJSON_TAIL(); + return result; + case 4: + RAPIDJSON_COPY(); + RAPIDJSON_TRANS(0x50); + RAPIDJSON_TAIL(); + return result; + case 5: + RAPIDJSON_COPY(); + RAPIDJSON_TRANS(0x10); + RAPIDJSON_TAIL(); + RAPIDJSON_TAIL(); + return result; + case 6: + RAPIDJSON_TAIL(); + RAPIDJSON_TAIL(); + RAPIDJSON_TAIL(); + return result; + case 10: + RAPIDJSON_COPY(); + RAPIDJSON_TRANS(0x20); + RAPIDJSON_TAIL(); + return result; + case 11: + RAPIDJSON_COPY(); + RAPIDJSON_TRANS(0x60); + RAPIDJSON_TAIL(); + RAPIDJSON_TAIL(); + return result; + default: + return false; + } +#undef RAPIDJSON_COPY +#undef RAPIDJSON_TRANS +#undef RAPIDJSON_TAIL + } + + template + static bool Validate(InputStream &is, OutputStream &os) { +#define RAPIDJSON_COPY() os.Put(c = is.Take()) +#define RAPIDJSON_TRANS(mask) \ + result &= ((GetRange(static_cast(c)) & mask) != 0) +#define RAPIDJSON_TAIL() \ + RAPIDJSON_COPY(); \ + RAPIDJSON_TRANS(0x70) + Ch c; + RAPIDJSON_COPY(); + if (!(c & 0x80)) return true; + + bool result = true; + switch (GetRange(static_cast(c))) { + case 2: + RAPIDJSON_TAIL(); + return result; + case 3: + RAPIDJSON_TAIL(); + RAPIDJSON_TAIL(); + return result; + case 4: + RAPIDJSON_COPY(); + RAPIDJSON_TRANS(0x50); + RAPIDJSON_TAIL(); + return result; + case 5: + RAPIDJSON_COPY(); + RAPIDJSON_TRANS(0x10); + RAPIDJSON_TAIL(); + RAPIDJSON_TAIL(); + return result; + case 6: + RAPIDJSON_TAIL(); + RAPIDJSON_TAIL(); + RAPIDJSON_TAIL(); + return result; + case 10: + RAPIDJSON_COPY(); + RAPIDJSON_TRANS(0x20); + RAPIDJSON_TAIL(); + return result; + case 11: + RAPIDJSON_COPY(); + RAPIDJSON_TRANS(0x60); + RAPIDJSON_TAIL(); + RAPIDJSON_TAIL(); + return result; + default: + return false; + } +#undef RAPIDJSON_COPY +#undef RAPIDJSON_TRANS +#undef RAPIDJSON_TAIL + } + + static unsigned char GetRange(unsigned char c) { + // Referring to DFA of http://bjoern.hoehrmann.de/utf-8/decoder/dfa/ + // With new mapping 1 -> 0x10, 7 -> 0x20, 9 -> 0x40, such that AND operation + // can test multiple types. + static const unsigned char type[] = { + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0x10, 0x10, 0x10, 0x10, + 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, + 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, + 0x40, 0x40, 0x40, 0x40, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, + 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, + 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, + 8, 8, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, + 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, + 2, 2, 2, 2, 2, 2, 2, 2, 10, 3, 3, 3, + 3, 3, 3, 3, 3, 3, 3, 3, 3, 4, 3, 3, + 11, 6, 6, 6, 5, 8, 8, 8, 8, 8, 8, 8, + 8, 8, 8, 8, + }; + return type[c]; + } + + template + static CharType TakeBOM(InputByteStream &is) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1); + typename InputByteStream::Ch c = Take(is); + if (static_cast(c) != 0xEFu) return c; + c = is.Take(); + if (static_cast(c) != 0xBBu) return c; + c = is.Take(); + if (static_cast(c) != 0xBFu) return c; + c = is.Take(); + return c; + } + + template + static Ch Take(InputByteStream &is) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1); + return static_cast(is.Take()); + } + + template + static void PutBOM(OutputByteStream &os) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1); + os.Put(static_cast(0xEFu)); + os.Put(static_cast(0xBBu)); + os.Put(static_cast(0xBFu)); + } + + template + static void Put(OutputByteStream &os, Ch c) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1); + os.Put(static_cast(c)); + } +}; + +/////////////////////////////////////////////////////////////////////////////// +// UTF16 + +//! UTF-16 encoding. +/*! http://en.wikipedia.org/wiki/UTF-16 + http://tools.ietf.org/html/rfc2781 + \tparam CharType Type for storing 16-bit UTF-16 data. Default is wchar_t. + C++11 may use char16_t instead. \note implements Encoding concept + + \note For in-memory access, no need to concern endianness. The code units + and code points are represented by CPU's endianness. For streaming, use + UTF16LE and UTF16BE, which handle endianness. +*/ +template +struct UTF16 { + typedef CharType Ch; + RAPIDJSON_STATIC_ASSERT(sizeof(Ch) >= 2); + + enum { supportUnicode = 1 }; + + template + static void Encode(OutputStream &os, unsigned codepoint) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputStream::Ch) >= 2); + if (codepoint <= 0xFFFF) { + RAPIDJSON_ASSERT( + codepoint < 0xD800 || + codepoint > 0xDFFF); // Code point itself cannot be surrogate pair + os.Put(static_cast(codepoint)); + } else { + RAPIDJSON_ASSERT(codepoint <= 0x10FFFF); + unsigned v = codepoint - 0x10000; + os.Put(static_cast((v >> 10) | 0xD800)); + os.Put(static_cast((v & 0x3FF) | 0xDC00)); + } + } + + template + static void EncodeUnsafe(OutputStream &os, unsigned codepoint) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputStream::Ch) >= 2); + if (codepoint <= 0xFFFF) { + RAPIDJSON_ASSERT( + codepoint < 0xD800 || + codepoint > 0xDFFF); // Code point itself cannot be surrogate pair + PutUnsafe(os, static_cast(codepoint)); + } else { + RAPIDJSON_ASSERT(codepoint <= 0x10FFFF); + unsigned v = codepoint - 0x10000; + PutUnsafe(os, static_cast((v >> 10) | 0xD800)); + PutUnsafe(os, + static_cast((v & 0x3FF) | 0xDC00)); + } + } + + template + static bool Decode(InputStream &is, unsigned *codepoint) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename InputStream::Ch) >= 2); + typename InputStream::Ch c = is.Take(); + if (c < 0xD800 || c > 0xDFFF) { + *codepoint = static_cast(c); + return true; + } else if (c <= 0xDBFF) { + *codepoint = (static_cast(c) & 0x3FF) << 10; + c = is.Take(); + *codepoint |= (static_cast(c) & 0x3FF); + *codepoint += 0x10000; + return c >= 0xDC00 && c <= 0xDFFF; + } + return false; + } + + template + static bool Validate(InputStream &is, OutputStream &os) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename InputStream::Ch) >= 2); + RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputStream::Ch) >= 2); + typename InputStream::Ch c; + os.Put(static_cast(c = is.Take())); + if (c < 0xD800 || c > 0xDFFF) + return true; + else if (c <= 0xDBFF) { + os.Put(c = is.Take()); + return c >= 0xDC00 && c <= 0xDFFF; + } + return false; + } +}; + +//! UTF-16 little endian encoding. +template +struct UTF16LE : UTF16 { + template + static CharType TakeBOM(InputByteStream &is) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1); + CharType c = Take(is); + return static_cast(c) == 0xFEFFu ? Take(is) : c; + } + + template + static CharType Take(InputByteStream &is) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1); + unsigned c = static_cast(is.Take()); + c |= static_cast(static_cast(is.Take())) << 8; + return static_cast(c); + } + + template + static void PutBOM(OutputByteStream &os) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1); + os.Put(static_cast(0xFFu)); + os.Put(static_cast(0xFEu)); + } + + template + static void Put(OutputByteStream &os, CharType c) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1); + os.Put(static_cast(static_cast(c) & + 0xFFu)); + os.Put(static_cast( + (static_cast(c) >> 8) & 0xFFu)); + } +}; + +//! UTF-16 big endian encoding. +template +struct UTF16BE : UTF16 { + template + static CharType TakeBOM(InputByteStream &is) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1); + CharType c = Take(is); + return static_cast(c) == 0xFEFFu ? Take(is) : c; + } + + template + static CharType Take(InputByteStream &is) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1); + unsigned c = static_cast(static_cast(is.Take())) << 8; + c |= static_cast(static_cast(is.Take())); + return static_cast(c); + } + + template + static void PutBOM(OutputByteStream &os) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1); + os.Put(static_cast(0xFEu)); + os.Put(static_cast(0xFFu)); + } + + template + static void Put(OutputByteStream &os, CharType c) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1); + os.Put(static_cast( + (static_cast(c) >> 8) & 0xFFu)); + os.Put(static_cast(static_cast(c) & + 0xFFu)); + } +}; + +/////////////////////////////////////////////////////////////////////////////// +// UTF32 + +//! UTF-32 encoding. +/*! http://en.wikipedia.org/wiki/UTF-32 + \tparam CharType Type for storing 32-bit UTF-32 data. Default is unsigned. + C++11 may use char32_t instead. \note implements Encoding concept + + \note For in-memory access, no need to concern endianness. The code units + and code points are represented by CPU's endianness. For streaming, use + UTF32LE and UTF32BE, which handle endianness. +*/ +template +struct UTF32 { + typedef CharType Ch; + RAPIDJSON_STATIC_ASSERT(sizeof(Ch) >= 4); + + enum { supportUnicode = 1 }; + + template + static void Encode(OutputStream &os, unsigned codepoint) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputStream::Ch) >= 4); + RAPIDJSON_ASSERT(codepoint <= 0x10FFFF); + os.Put(codepoint); + } + + template + static void EncodeUnsafe(OutputStream &os, unsigned codepoint) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputStream::Ch) >= 4); + RAPIDJSON_ASSERT(codepoint <= 0x10FFFF); + PutUnsafe(os, codepoint); + } + + template + static bool Decode(InputStream &is, unsigned *codepoint) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename InputStream::Ch) >= 4); + Ch c = is.Take(); + *codepoint = c; + return c <= 0x10FFFF; + } + + template + static bool Validate(InputStream &is, OutputStream &os) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename InputStream::Ch) >= 4); + Ch c; + os.Put(c = is.Take()); + return c <= 0x10FFFF; + } +}; + +//! UTF-32 little endian enocoding. +template +struct UTF32LE : UTF32 { + template + static CharType TakeBOM(InputByteStream &is) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1); + CharType c = Take(is); + return static_cast(c) == 0x0000FEFFu ? Take(is) : c; + } + + template + static CharType Take(InputByteStream &is) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1); + unsigned c = static_cast(is.Take()); + c |= static_cast(static_cast(is.Take())) << 8; + c |= static_cast(static_cast(is.Take())) << 16; + c |= static_cast(static_cast(is.Take())) << 24; + return static_cast(c); + } + + template + static void PutBOM(OutputByteStream &os) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1); + os.Put(static_cast(0xFFu)); + os.Put(static_cast(0xFEu)); + os.Put(static_cast(0x00u)); + os.Put(static_cast(0x00u)); + } + + template + static void Put(OutputByteStream &os, CharType c) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1); + os.Put(static_cast(c & 0xFFu)); + os.Put(static_cast((c >> 8) & 0xFFu)); + os.Put(static_cast((c >> 16) & 0xFFu)); + os.Put(static_cast((c >> 24) & 0xFFu)); + } +}; + +//! UTF-32 big endian encoding. +template +struct UTF32BE : UTF32 { + template + static CharType TakeBOM(InputByteStream &is) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1); + CharType c = Take(is); + return static_cast(c) == 0x0000FEFFu ? Take(is) : c; + } + + template + static CharType Take(InputByteStream &is) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1); + unsigned c = static_cast(static_cast(is.Take())) << 24; + c |= static_cast(static_cast(is.Take())) << 16; + c |= static_cast(static_cast(is.Take())) << 8; + c |= static_cast(static_cast(is.Take())); + return static_cast(c); + } + + template + static void PutBOM(OutputByteStream &os) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1); + os.Put(static_cast(0x00u)); + os.Put(static_cast(0x00u)); + os.Put(static_cast(0xFEu)); + os.Put(static_cast(0xFFu)); + } + + template + static void Put(OutputByteStream &os, CharType c) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1); + os.Put(static_cast((c >> 24) & 0xFFu)); + os.Put(static_cast((c >> 16) & 0xFFu)); + os.Put(static_cast((c >> 8) & 0xFFu)); + os.Put(static_cast(c & 0xFFu)); + } +}; + +/////////////////////////////////////////////////////////////////////////////// +// ASCII + +//! ASCII encoding. +/*! http://en.wikipedia.org/wiki/ASCII + \tparam CharType Code unit for storing 7-bit ASCII data. Default is char. + \note implements Encoding concept +*/ +template +struct ASCII { + typedef CharType Ch; + + enum { supportUnicode = 0 }; + + template + static void Encode(OutputStream &os, unsigned codepoint) { + RAPIDJSON_ASSERT(codepoint <= 0x7F); + os.Put(static_cast(codepoint & 0xFF)); + } + + template + static void EncodeUnsafe(OutputStream &os, unsigned codepoint) { + RAPIDJSON_ASSERT(codepoint <= 0x7F); + PutUnsafe(os, static_cast(codepoint & 0xFF)); + } + + template + static bool Decode(InputStream &is, unsigned *codepoint) { + uint8_t c = static_cast(is.Take()); + *codepoint = c; + return c <= 0X7F; + } + + template + static bool Validate(InputStream &is, OutputStream &os) { + uint8_t c = static_cast(is.Take()); + os.Put(static_cast(c)); + return c <= 0x7F; + } + + template + static CharType TakeBOM(InputByteStream &is) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1); + uint8_t c = static_cast(Take(is)); + return static_cast(c); + } + + template + static Ch Take(InputByteStream &is) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1); + return static_cast(is.Take()); + } + + template + static void PutBOM(OutputByteStream &os) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1); + (void)os; + } + + template + static void Put(OutputByteStream &os, Ch c) { + RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1); + os.Put(static_cast(c)); + } +}; + +/////////////////////////////////////////////////////////////////////////////// +// AutoUTF + +//! Runtime-specified UTF encoding type of a stream. +enum UTFType { + kUTF8 = 0, //!< UTF-8. + kUTF16LE = 1, //!< UTF-16 little endian. + kUTF16BE = 2, //!< UTF-16 big endian. + kUTF32LE = 3, //!< UTF-32 little endian. + kUTF32BE = 4 //!< UTF-32 big endian. +}; + +//! Dynamically select encoding according to stream's runtime-specified UTF +//! encoding type. +/*! \note This class can be used with AutoUTFInputtStream and + * AutoUTFOutputStream, which provides GetType(). + */ +template +struct AutoUTF { + typedef CharType Ch; + + enum { supportUnicode = 1 }; + +#define RAPIDJSON_ENCODINGS_FUNC(x) \ + UTF8::x, UTF16LE::x, UTF16BE::x, UTF32LE::x, UTF32BE::x + + template + static RAPIDJSON_FORCEINLINE void Encode(OutputStream &os, + unsigned codepoint) { + typedef void (*EncodeFunc)(OutputStream &, unsigned); + static const EncodeFunc f[] = {RAPIDJSON_ENCODINGS_FUNC(Encode)}; + (*f[os.GetType()])(os, codepoint); + } + + template + static RAPIDJSON_FORCEINLINE void EncodeUnsafe(OutputStream &os, + unsigned codepoint) { + typedef void (*EncodeFunc)(OutputStream &, unsigned); + static const EncodeFunc f[] = {RAPIDJSON_ENCODINGS_FUNC(EncodeUnsafe)}; + (*f[os.GetType()])(os, codepoint); + } + + template + static RAPIDJSON_FORCEINLINE bool Decode(InputStream &is, + unsigned *codepoint) { + typedef bool (*DecodeFunc)(InputStream &, unsigned *); + static const DecodeFunc f[] = {RAPIDJSON_ENCODINGS_FUNC(Decode)}; + return (*f[is.GetType()])(is, codepoint); + } + + template + static RAPIDJSON_FORCEINLINE bool Validate(InputStream &is, + OutputStream &os) { + typedef bool (*ValidateFunc)(InputStream &, OutputStream &); + static const ValidateFunc f[] = {RAPIDJSON_ENCODINGS_FUNC(Validate)}; + return (*f[is.GetType()])(is, os); + } + +#undef RAPIDJSON_ENCODINGS_FUNC +}; + +/////////////////////////////////////////////////////////////////////////////// +// Transcoder + +//! Encoding conversion. +template +struct Transcoder { + //! Take one Unicode codepoint from source encoding, convert it to target + //! encoding and put it to the output stream. + template + static RAPIDJSON_FORCEINLINE bool Transcode(InputStream &is, + OutputStream &os) { + unsigned codepoint; + if (!SourceEncoding::Decode(is, &codepoint)) return false; + TargetEncoding::Encode(os, codepoint); + return true; + } + + template + static RAPIDJSON_FORCEINLINE bool TranscodeUnsafe(InputStream &is, + OutputStream &os) { + unsigned codepoint; + if (!SourceEncoding::Decode(is, &codepoint)) return false; + TargetEncoding::EncodeUnsafe(os, codepoint); + return true; + } + + //! Validate one Unicode codepoint from an encoded stream. + template + static RAPIDJSON_FORCEINLINE bool Validate(InputStream &is, + OutputStream &os) { + return Transcode( + is, os); // Since source/target encoding is different, must transcode. + } +}; + +// Forward declaration. +template +inline void PutUnsafe(Stream &stream, typename Stream::Ch c); + +//! Specialization of Transcoder with same source and target encoding. +template +struct Transcoder { + template + static RAPIDJSON_FORCEINLINE bool Transcode(InputStream &is, + OutputStream &os) { + os.Put(is.Take()); // Just copy one code unit. This semantic is different + // from primary template class. + return true; + } + + template + static RAPIDJSON_FORCEINLINE bool TranscodeUnsafe(InputStream &is, + OutputStream &os) { + PutUnsafe(os, is.Take()); // Just copy one code unit. This semantic is + // different from primary template class. + return true; + } + + template + static RAPIDJSON_FORCEINLINE bool Validate(InputStream &is, + OutputStream &os) { + return Encoding::Validate(is, os); // source/target encoding are the same + } +}; + +RAPIDJSON_NAMESPACE_END + +#if defined(__GNUC__) || (defined(_MSC_VER) && !defined(__clang__)) +RAPIDJSON_DIAG_POP +#endif + +#endif // RAPIDJSON_ENCODINGS_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/error/en.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/error/en.h new file mode 100644 index 0000000..a08145d --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/error/en.h @@ -0,0 +1,104 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_ERROR_EN_H_ +#define RAPIDJSON_ERROR_EN_H_ + +#include "error.h" + +#ifdef __clang__ +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(switch - enum) +RAPIDJSON_DIAG_OFF(covered - switch - default) +#endif + +RAPIDJSON_NAMESPACE_BEGIN + +//! Maps error code of parsing into error message. +/*! + \ingroup RAPIDJSON_ERRORS + \param parseErrorCode Error code obtained in parsing. + \return the error message. + \note User can make a copy of this function for localization. + Using switch-case is safer for future modification of error codes. +*/ +inline const RAPIDJSON_ERROR_CHARTYPE* GetParseError_En( + ParseErrorCode parseErrorCode) { + switch (parseErrorCode) { + case kParseErrorNone: + return RAPIDJSON_ERROR_STRING("No error."); + + case kParseErrorDocumentEmpty: + return RAPIDJSON_ERROR_STRING("The document is empty."); + case kParseErrorDocumentRootNotSingular: + return RAPIDJSON_ERROR_STRING( + "The document root must not be followed by other values."); + + case kParseErrorValueInvalid: + return RAPIDJSON_ERROR_STRING("Invalid value."); + + case kParseErrorObjectMissName: + return RAPIDJSON_ERROR_STRING("Missing a name for object member."); + case kParseErrorObjectMissColon: + return RAPIDJSON_ERROR_STRING( + "Missing a colon after a name of object member."); + case kParseErrorObjectMissCommaOrCurlyBracket: + return RAPIDJSON_ERROR_STRING( + "Missing a comma or '}' after an object member."); + + case kParseErrorArrayMissCommaOrSquareBracket: + return RAPIDJSON_ERROR_STRING( + "Missing a comma or ']' after an array element."); + + case kParseErrorStringUnicodeEscapeInvalidHex: + return RAPIDJSON_ERROR_STRING( + "Incorrect hex digit after \\u escape in string."); + case kParseErrorStringUnicodeSurrogateInvalid: + return RAPIDJSON_ERROR_STRING("The surrogate pair in string is invalid."); + case kParseErrorStringEscapeInvalid: + return RAPIDJSON_ERROR_STRING("Invalid escape character in string."); + case kParseErrorStringMissQuotationMark: + return RAPIDJSON_ERROR_STRING( + "Missing a closing quotation mark in string."); + case kParseErrorStringInvalidEncoding: + return RAPIDJSON_ERROR_STRING("Invalid encoding in string."); + + case kParseErrorNumberTooBig: + return RAPIDJSON_ERROR_STRING("Number too big to be stored in double."); + case kParseErrorNumberMissFraction: + return RAPIDJSON_ERROR_STRING("Miss fraction part in number."); + case kParseErrorNumberMissExponent: + return RAPIDJSON_ERROR_STRING("Miss exponent in number."); + + case kParseErrorTermination: + return RAPIDJSON_ERROR_STRING("Terminate parsing due to Handler error."); + case kParseErrorUnspecificSyntaxError: + return RAPIDJSON_ERROR_STRING("Unspecific syntax error."); + + default: + return RAPIDJSON_ERROR_STRING("Unknown error."); + } +} + +RAPIDJSON_NAMESPACE_END + +#ifdef __clang__ +RAPIDJSON_DIAG_POP +#endif + +#endif // RAPIDJSON_ERROR_EN_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/error/error.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/error/error.h new file mode 100644 index 0000000..4814b69 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/error/error.h @@ -0,0 +1,186 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_ERROR_ERROR_H_ +#define RAPIDJSON_ERROR_ERROR_H_ + +#include "../rapidjson.h" + +#ifdef __clang__ +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(padded) +#endif + +/*! \file error.h */ + +/*! \defgroup RAPIDJSON_ERRORS RapidJSON error handling */ + +/////////////////////////////////////////////////////////////////////////////// +// RAPIDJSON_ERROR_CHARTYPE + +//! Character type of error messages. +/*! \ingroup RAPIDJSON_ERRORS + The default character type is \c char. + On Windows, user can define this macro as \c TCHAR for supporting both + unicode/non-unicode settings. +*/ +#ifndef RAPIDJSON_ERROR_CHARTYPE +#define RAPIDJSON_ERROR_CHARTYPE char +#endif + +/////////////////////////////////////////////////////////////////////////////// +// RAPIDJSON_ERROR_STRING + +//! Macro for converting string literial to \ref RAPIDJSON_ERROR_CHARTYPE[]. +/*! \ingroup RAPIDJSON_ERRORS + By default this conversion macro does nothing. + On Windows, user can define this macro as \c _T(x) for supporting both + unicode/non-unicode settings. +*/ +#ifndef RAPIDJSON_ERROR_STRING +#define RAPIDJSON_ERROR_STRING(x) x +#endif + +RAPIDJSON_NAMESPACE_BEGIN + +/////////////////////////////////////////////////////////////////////////////// +// ParseErrorCode + +//! Error code of parsing. +/*! \ingroup RAPIDJSON_ERRORS + \see GenericReader::Parse, GenericReader::GetParseErrorCode +*/ +enum ParseErrorCode { + kParseErrorNone = 0, //!< No error. + + kParseErrorDocumentEmpty, //!< The document is empty. + kParseErrorDocumentRootNotSingular, //!< The document root must not follow by + //!< other values. + + kParseErrorValueInvalid, //!< Invalid value. + + kParseErrorObjectMissName, //!< Missing a name for object member. + kParseErrorObjectMissColon, //!< Missing a colon after a name of object + //!< member. + kParseErrorObjectMissCommaOrCurlyBracket, //!< Missing a comma or '}' after + //!an + //!< object member. + + kParseErrorArrayMissCommaOrSquareBracket, //!< Missing a comma or ']' after + //!an + //!< array element. + + kParseErrorStringUnicodeEscapeInvalidHex, //!< Incorrect hex digit after \\u + //!< escape in string. + kParseErrorStringUnicodeSurrogateInvalid, //!< The surrogate pair in string + //!is + //!< invalid. + kParseErrorStringEscapeInvalid, //!< Invalid escape character in string. + kParseErrorStringMissQuotationMark, //!< Missing a closing quotation mark in + //!< string. + kParseErrorStringInvalidEncoding, //!< Invalid encoding in string. + + kParseErrorNumberTooBig, //!< Number too big to be stored in double. + kParseErrorNumberMissFraction, //!< Miss fraction part in number. + kParseErrorNumberMissExponent, //!< Miss exponent in number. + + kParseErrorTermination, //!< Parsing was terminated. + kParseErrorUnspecificSyntaxError //!< Unspecific syntax error. +}; + +//! Result of parsing (wraps ParseErrorCode) +/*! + \ingroup RAPIDJSON_ERRORS + \code + Document doc; + ParseResult ok = doc.Parse("[42]"); + if (!ok) { + fprintf(stderr, "JSON parse error: %s (%u)", + GetParseError_En(ok.Code()), ok.Offset()); + exit(EXIT_FAILURE); + } + \endcode + \see GenericReader::Parse, GenericDocument::Parse +*/ +struct ParseResult { + //!! Unspecified boolean type + typedef bool (ParseResult::*BooleanType)() const; + + public: + //! Default constructor, no error. + ParseResult() : code_(kParseErrorNone), offset_(0) {} + //! Constructor to set an error. + ParseResult(ParseErrorCode code, size_t offset) + : code_(code), offset_(offset) {} + + //! Get the error code. + ParseErrorCode Code() const { return code_; } + //! Get the error offset, if \ref IsError(), 0 otherwise. + size_t Offset() const { return offset_; } + + //! Explicit conversion to \c bool, returns \c true, iff !\ref IsError(). + operator BooleanType() const { + return !IsError() ? &ParseResult::IsError : NULL; + } + //! Whether the result is an error. + bool IsError() const { return code_ != kParseErrorNone; } + + bool operator==(const ParseResult &that) const { return code_ == that.code_; } + bool operator==(ParseErrorCode code) const { return code_ == code; } + friend bool operator==(ParseErrorCode code, const ParseResult &err) { + return code == err.code_; + } + + bool operator!=(const ParseResult &that) const { return !(*this == that); } + bool operator!=(ParseErrorCode code) const { return !(*this == code); } + friend bool operator!=(ParseErrorCode code, const ParseResult &err) { + return err != code; + } + + //! Reset error code. + void Clear() { Set(kParseErrorNone); } + //! Update error code and offset. + void Set(ParseErrorCode code, size_t offset = 0) { + code_ = code; + offset_ = offset; + } + + private: + ParseErrorCode code_; + size_t offset_; +}; + +//! Function pointer type of GetParseError(). +/*! \ingroup RAPIDJSON_ERRORS + + This is the prototype for \c GetParseError_X(), where \c X is a locale. + User can dynamically change locale in runtime, e.g.: +\code + GetParseErrorFunc GetParseError = GetParseError_En; // or whatever + const RAPIDJSON_ERROR_CHARTYPE* s = +GetParseError(document.GetParseErrorCode()); \endcode +*/ +typedef const RAPIDJSON_ERROR_CHARTYPE *(*GetParseErrorFunc)(ParseErrorCode); + +RAPIDJSON_NAMESPACE_END + +#ifdef __clang__ +RAPIDJSON_DIAG_POP +#endif + +#endif // RAPIDJSON_ERROR_ERROR_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/filereadstream.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/filereadstream.h new file mode 100644 index 0000000..250aabb --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/filereadstream.h @@ -0,0 +1,123 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_FILEREADSTREAM_H_ +#define RAPIDJSON_FILEREADSTREAM_H_ + +#include +#include "stream.h" + +#ifdef __clang__ +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(padded) +RAPIDJSON_DIAG_OFF(unreachable - code) +RAPIDJSON_DIAG_OFF(missing - noreturn) +#endif + +RAPIDJSON_NAMESPACE_BEGIN + +//! File byte stream for input using fread(). +/*! + \note implements Stream concept +*/ +class FileReadStream { + public: + typedef char Ch; //!< Character type (byte). + + //! Constructor. + /*! + \param fp File pointer opened for read. + \param buffer user-supplied buffer. + \param bufferSize size of buffer in bytes. Must >=4 bytes. + */ + FileReadStream(std::FILE *fp, char *buffer, size_t bufferSize) + : fp_(fp), + buffer_(buffer), + bufferSize_(bufferSize), + bufferLast_(0), + current_(buffer_), + readCount_(0), + count_(0), + eof_(false) { + RAPIDJSON_ASSERT(fp_ != 0); + RAPIDJSON_ASSERT(bufferSize >= 4); + Read(); + } + + Ch Peek() const { return *current_; } + Ch Take() { + Ch c = *current_; + Read(); + return c; + } + size_t Tell() const { + return count_ + static_cast(current_ - buffer_); + } + + // Not implemented + void Put(Ch) { RAPIDJSON_ASSERT(false); } + void Flush() { RAPIDJSON_ASSERT(false); } + Ch *PutBegin() { + RAPIDJSON_ASSERT(false); + return 0; + } + size_t PutEnd(Ch *) { + RAPIDJSON_ASSERT(false); + return 0; + } + + // For encoding detection only. + const Ch *Peek4() const { + return (current_ + 4 - !eof_ <= bufferLast_) ? current_ : 0; + } + + private: + void Read() { + if (current_ < bufferLast_) + ++current_; + else if (!eof_) { + count_ += readCount_; + readCount_ = std::fread(buffer_, 1, bufferSize_, fp_); + bufferLast_ = buffer_ + readCount_ - 1; + current_ = buffer_; + + if (readCount_ < bufferSize_) { + buffer_[readCount_] = '\0'; + ++bufferLast_; + eof_ = true; + } + } + } + + std::FILE *fp_; + Ch *buffer_; + size_t bufferSize_; + Ch *bufferLast_; + Ch *current_; + size_t readCount_; + size_t count_; //!< Number of characters read + bool eof_; +}; + +RAPIDJSON_NAMESPACE_END + +#ifdef __clang__ +RAPIDJSON_DIAG_POP +#endif + +#endif // RAPIDJSON_FILESTREAM_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/filewritestream.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/filewritestream.h new file mode 100644 index 0000000..f6defc1 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/filewritestream.h @@ -0,0 +1,128 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_FILEWRITESTREAM_H_ +#define RAPIDJSON_FILEWRITESTREAM_H_ + +#include +#include "stream.h" + +#ifdef __clang__ +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(unreachable - code) +#endif + +RAPIDJSON_NAMESPACE_BEGIN + +//! Wrapper of C file stream for output using fwrite(). +/*! + \note implements Stream concept +*/ +class FileWriteStream { + public: + typedef char Ch; //!< Character type. Only support char. + + FileWriteStream(std::FILE *fp, char *buffer, size_t bufferSize) + : fp_(fp), + buffer_(buffer), + bufferEnd_(buffer + bufferSize), + current_(buffer_) { + RAPIDJSON_ASSERT(fp_ != 0); + } + + void Put(char c) { + if (current_ >= bufferEnd_) Flush(); + + *current_++ = c; + } + + void PutN(char c, size_t n) { + size_t avail = static_cast(bufferEnd_ - current_); + while (n > avail) { + std::memset(current_, c, avail); + current_ += avail; + Flush(); + n -= avail; + avail = static_cast(bufferEnd_ - current_); + } + + if (n > 0) { + std::memset(current_, c, n); + current_ += n; + } + } + + void Flush() { + if (current_ != buffer_) { + size_t result = + std::fwrite(buffer_, 1, static_cast(current_ - buffer_), fp_); + if (result < static_cast(current_ - buffer_)) { + // failure deliberately ignored at this time + // added to avoid warn_unused_result build errors + } + current_ = buffer_; + } + } + + // Not implemented + char Peek() const { + RAPIDJSON_ASSERT(false); + return 0; + } + char Take() { + RAPIDJSON_ASSERT(false); + return 0; + } + size_t Tell() const { + RAPIDJSON_ASSERT(false); + return 0; + } + char *PutBegin() { + RAPIDJSON_ASSERT(false); + return 0; + } + size_t PutEnd(char *) { + RAPIDJSON_ASSERT(false); + return 0; + } + + private: + // Prohibit copy constructor & assignment operator. + FileWriteStream(const FileWriteStream &); + FileWriteStream &operator=(const FileWriteStream &); + + std::FILE *fp_; + char *buffer_; + char *bufferEnd_; + char *current_; +}; + +//! Implement specialized version of PutN() with memset() for better +//! performance. +template <> +inline void PutN(FileWriteStream &stream, char c, size_t n) { + stream.PutN(c, n); +} + +RAPIDJSON_NAMESPACE_END + +#ifdef __clang__ +RAPIDJSON_DIAG_POP +#endif + +#endif // RAPIDJSON_FILESTREAM_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/fwd.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/fwd.h new file mode 100644 index 0000000..cafb48e --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/fwd.h @@ -0,0 +1,170 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_FWD_H_ +#define RAPIDJSON_FWD_H_ + +#include "rapidjson.h" + +RAPIDJSON_NAMESPACE_BEGIN + +// encodings.h + +template +struct UTF8; +template +struct UTF16; +template +struct UTF16BE; +template +struct UTF16LE; +template +struct UTF32; +template +struct UTF32BE; +template +struct UTF32LE; +template +struct ASCII; +template +struct AutoUTF; + +template +struct Transcoder; + +// allocators.h + +class CrtAllocator; + +template +class MemoryPoolAllocator; + +// stream.h + +template +struct GenericStringStream; + +typedef GenericStringStream> StringStream; + +template +struct GenericInsituStringStream; + +typedef GenericInsituStringStream> InsituStringStream; + +// stringbuffer.h + +template +class GenericStringBuffer; + +typedef GenericStringBuffer, CrtAllocator> StringBuffer; + +// filereadstream.h + +class FileReadStream; + +// filewritestream.h + +class FileWriteStream; + +// memorybuffer.h + +template +struct GenericMemoryBuffer; + +typedef GenericMemoryBuffer MemoryBuffer; + +// memorystream.h + +struct MemoryStream; + +// reader.h + +template +struct BaseReaderHandler; + +template +class GenericReader; + +typedef GenericReader, UTF8, CrtAllocator> Reader; + +// writer.h + +template +class Writer; + +// prettywriter.h + +template +class PrettyWriter; + +// document.h + +template +class GenericMember; + +template +class GenericMemberIterator; + +template +struct GenericStringRef; + +template +class GenericValue; + +typedef GenericValue, MemoryPoolAllocator> Value; + +template +class GenericDocument; + +typedef GenericDocument, MemoryPoolAllocator, + CrtAllocator> + Document; + +// pointer.h + +template +class GenericPointer; + +typedef GenericPointer Pointer; + +// schema.h + +template +class IGenericRemoteSchemaDocumentProvider; + +template +class GenericSchemaDocument; + +typedef GenericSchemaDocument SchemaDocument; +typedef IGenericRemoteSchemaDocumentProvider + IRemoteSchemaDocumentProvider; + +template +class GenericSchemaValidator; + +typedef GenericSchemaValidator< + SchemaDocument, BaseReaderHandler, void>, CrtAllocator> + SchemaValidator; + +RAPIDJSON_NAMESPACE_END + +#endif // RAPIDJSON_RAPIDJSONFWD_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/biginteger.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/biginteger.h new file mode 100644 index 0000000..b60e006 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/biginteger.h @@ -0,0 +1,295 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_BIGINTEGER_H_ +#define RAPIDJSON_BIGINTEGER_H_ + +#include "../rapidjson.h" + +#if defined(_MSC_VER) && !__INTEL_COMPILER && defined(_M_AMD64) +#include // for _umul128 +#pragma intrinsic(_umul128) +#endif + +RAPIDJSON_NAMESPACE_BEGIN +namespace internal { + +class BigInteger { + public: + typedef uint64_t Type; + + BigInteger(const BigInteger &rhs) : count_(rhs.count_) { + std::memcpy(digits_, rhs.digits_, count_ * sizeof(Type)); + } + + explicit BigInteger(uint64_t u) : count_(1) { digits_[0] = u; } + + BigInteger(const char *decimals, size_t length) : count_(1) { + RAPIDJSON_ASSERT(length > 0); + digits_[0] = 0; + size_t i = 0; + const size_t kMaxDigitPerIteration = + 19; // 2^64 = 18446744073709551616 > 10^19 + while (length >= kMaxDigitPerIteration) { + AppendDecimal64(decimals + i, decimals + i + kMaxDigitPerIteration); + length -= kMaxDigitPerIteration; + i += kMaxDigitPerIteration; + } + + if (length > 0) AppendDecimal64(decimals + i, decimals + i + length); + } + + BigInteger &operator=(const BigInteger &rhs) { + if (this != &rhs) { + count_ = rhs.count_; + std::memcpy(digits_, rhs.digits_, count_ * sizeof(Type)); + } + return *this; + } + + BigInteger &operator=(uint64_t u) { + digits_[0] = u; + count_ = 1; + return *this; + } + + BigInteger &operator+=(uint64_t u) { + Type backup = digits_[0]; + digits_[0] += u; + for (size_t i = 0; i < count_ - 1; i++) { + if (digits_[i] >= backup) return *this; // no carry + backup = digits_[i + 1]; + digits_[i + 1] += 1; + } + + // Last carry + if (digits_[count_ - 1] < backup) PushBack(1); + + return *this; + } + + BigInteger &operator*=(uint64_t u) { + if (u == 0) return *this = 0; + if (u == 1) return *this; + if (*this == 1) return *this = u; + + uint64_t k = 0; + for (size_t i = 0; i < count_; i++) { + uint64_t hi; + digits_[i] = MulAdd64(digits_[i], u, k, &hi); + k = hi; + } + + if (k > 0) PushBack(k); + + return *this; + } + + BigInteger &operator*=(uint32_t u) { + if (u == 0) return *this = 0; + if (u == 1) return *this; + if (*this == 1) return *this = u; + + uint64_t k = 0; + for (size_t i = 0; i < count_; i++) { + const uint64_t c = digits_[i] >> 32; + const uint64_t d = digits_[i] & 0xFFFFFFFF; + const uint64_t uc = u * c; + const uint64_t ud = u * d; + const uint64_t p0 = ud + k; + const uint64_t p1 = uc + (p0 >> 32); + digits_[i] = (p0 & 0xFFFFFFFF) | (p1 << 32); + k = p1 >> 32; + } + + if (k > 0) PushBack(k); + + return *this; + } + + BigInteger &operator<<=(size_t shift) { + if (IsZero() || shift == 0) return *this; + + size_t offset = shift / kTypeBit; + size_t interShift = shift % kTypeBit; + RAPIDJSON_ASSERT(count_ + offset <= kCapacity); + + if (interShift == 0) { + std::memmove(digits_ + offset, digits_, count_ * sizeof(Type)); + count_ += offset; + } else { + digits_[count_] = 0; + for (size_t i = count_; i > 0; i--) + digits_[i + offset] = (digits_[i] << interShift) | + (digits_[i - 1] >> (kTypeBit - interShift)); + digits_[offset] = digits_[0] << interShift; + count_ += offset; + if (digits_[count_]) count_++; + } + + std::memset(digits_, 0, offset * sizeof(Type)); + + return *this; + } + + bool operator==(const BigInteger &rhs) const { + return count_ == rhs.count_ && + std::memcmp(digits_, rhs.digits_, count_ * sizeof(Type)) == 0; + } + + bool operator==(const Type rhs) const { + return count_ == 1 && digits_[0] == rhs; + } + + BigInteger &MultiplyPow5(unsigned exp) { + static const uint32_t kPow5[12] = { + 5, + 5 * 5, + 5 * 5 * 5, + 5 * 5 * 5 * 5, + 5 * 5 * 5 * 5 * 5, + 5 * 5 * 5 * 5 * 5 * 5, + 5 * 5 * 5 * 5 * 5 * 5 * 5, + 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5, + 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5, + 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5, + 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5, + 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5}; + if (exp == 0) return *this; + for (; exp >= 27; exp -= 27) + *this *= RAPIDJSON_UINT64_C2(0X6765C793, 0XFA10079D); // 5^27 + for (; exp >= 13; exp -= 13) + *this *= static_cast(1220703125u); // 5^13 + if (exp > 0) *this *= kPow5[exp - 1]; + return *this; + } + + // Compute absolute difference of this and rhs. + // Assume this != rhs + bool Difference(const BigInteger &rhs, BigInteger *out) const { + int cmp = Compare(rhs); + RAPIDJSON_ASSERT(cmp != 0); + const BigInteger *a, *b; // Makes a > b + bool ret; + if (cmp < 0) { + a = &rhs; + b = this; + ret = true; + } else { + a = this; + b = &rhs; + ret = false; + } + + Type borrow = 0; + for (size_t i = 0; i < a->count_; i++) { + Type d = a->digits_[i] - borrow; + if (i < b->count_) d -= b->digits_[i]; + borrow = (d > a->digits_[i]) ? 1 : 0; + out->digits_[i] = d; + if (d != 0) out->count_ = i + 1; + } + + return ret; + } + + int Compare(const BigInteger &rhs) const { + if (count_ != rhs.count_) return count_ < rhs.count_ ? -1 : 1; + + for (size_t i = count_; i-- > 0;) + if (digits_[i] != rhs.digits_[i]) + return digits_[i] < rhs.digits_[i] ? -1 : 1; + + return 0; + } + + size_t GetCount() const { return count_; } + Type GetDigit(size_t index) const { + RAPIDJSON_ASSERT(index < count_); + return digits_[index]; + } + bool IsZero() const { return count_ == 1 && digits_[0] == 0; } + + private: + void AppendDecimal64(const char *begin, const char *end) { + uint64_t u = ParseUint64(begin, end); + if (IsZero()) + *this = u; + else { + unsigned exp = static_cast(end - begin); + (MultiplyPow5(exp) <<= exp) += u; // *this = *this * 10^exp + u + } + } + + void PushBack(Type digit) { + RAPIDJSON_ASSERT(count_ < kCapacity); + digits_[count_++] = digit; + } + + static uint64_t ParseUint64(const char *begin, const char *end) { + uint64_t r = 0; + for (const char *p = begin; p != end; ++p) { + RAPIDJSON_ASSERT(*p >= '0' && *p <= '9'); + r = r * 10u + static_cast(*p - '0'); + } + return r; + } + + // Assume a * b + k < 2^128 + static uint64_t MulAdd64(uint64_t a, uint64_t b, uint64_t k, + uint64_t *outHigh) { +#if defined(_MSC_VER) && defined(_M_AMD64) + uint64_t low = _umul128(a, b, outHigh) + k; + if (low < k) (*outHigh)++; + return low; +#elif (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) && \ + defined(__x86_64__) + __extension__ typedef unsigned __int128 uint128; + uint128 p = static_cast(a) * static_cast(b); + p += k; + *outHigh = static_cast(p >> 64); + return static_cast(p); +#else + const uint64_t a0 = a & 0xFFFFFFFF, a1 = a >> 32, b0 = b & 0xFFFFFFFF, + b1 = b >> 32; + uint64_t x0 = a0 * b0, x1 = a0 * b1, x2 = a1 * b0, x3 = a1 * b1; + x1 += (x0 >> 32); // can't give carry + x1 += x2; + if (x1 < x2) x3 += (static_cast(1) << 32); + uint64_t lo = (x1 << 32) + (x0 & 0xFFFFFFFF); + uint64_t hi = x3 + (x1 >> 32); + + lo += k; + if (lo < k) hi++; + *outHigh = hi; + return lo; +#endif + } + + static const size_t kBitCount = 3328; // 64bit * 54 > 10^1000 + static const size_t kCapacity = kBitCount / sizeof(Type); + static const size_t kTypeBit = sizeof(Type) * 8; + + Type digits_[kCapacity]; + size_t count_; +}; + +} // namespace internal +RAPIDJSON_NAMESPACE_END + +#endif // RAPIDJSON_BIGINTEGER_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/clzll.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/clzll.h new file mode 100644 index 0000000..8cb8b8a --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/clzll.h @@ -0,0 +1,77 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_CLZLL_H_ +#define RAPIDJSON_CLZLL_H_ + +#include "../rapidjson.h" + +#if defined(_MSC_VER) +#include +#if defined(_WIN64) +#pragma intrinsic(_BitScanReverse64) +#else +#pragma intrinsic(_BitScanReverse) +#endif +#endif + +RAPIDJSON_NAMESPACE_BEGIN +namespace internal { + +#if (defined(__GNUC__) && __GNUC__ >= 4) || \ + RAPIDJSON_HAS_BUILTIN(__builtin_clzll) +#define RAPIDJSON_CLZLL __builtin_clzll +#else + +inline uint32_t clzll(uint64_t x) { + // Passing 0 to __builtin_clzll is UB in GCC and results in an + // infinite loop in the software implementation. + RAPIDJSON_ASSERT(x != 0); + +#if defined(_MSC_VER) + unsigned long r = 0; +#if defined(_WIN64) + _BitScanReverse64(&r, x); +#else + // Scan the high 32 bits. + if (_BitScanReverse(&r, static_cast(x >> 32))) return 63 - (r + 32); + + // Scan the low 32 bits. + _BitScanReverse(&r, static_cast(x & 0xFFFFFFFF)); +#endif // _WIN64 + + return 63 - r; +#else + uint32_t r; + while (!(x & (static_cast(1) << 63))) { + x <<= 1; + ++r; + } + + return r; +#endif // _MSC_VER +} + +#define RAPIDJSON_CLZLL RAPIDJSON_NAMESPACE::internal::clzll +#endif // (defined(__GNUC__) && __GNUC__ >= 4) || + // RAPIDJSON_HAS_BUILTIN(__builtin_clzll) + +} // namespace internal +RAPIDJSON_NAMESPACE_END + +#endif // RAPIDJSON_CLZLL_H_ \ No newline at end of file diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/diyfp.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/diyfp.h new file mode 100644 index 0000000..bed2989 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/diyfp.h @@ -0,0 +1,305 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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. + +// This is a C++ header-only implementation of Grisu2 algorithm from the +// publication: Loitsch, Florian. "Printing floating-point numbers quickly and +// accurately with integers." ACM Sigplan Notices 45.6 (2010): 233-243. + +#ifndef RAPIDJSON_DIYFP_H_ +#define RAPIDJSON_DIYFP_H_ + +#include +#include "../rapidjson.h" +#include "clzll.h" + +#if defined(_MSC_VER) && defined(_M_AMD64) && !defined(__INTEL_COMPILER) +#include +#pragma intrinsic(_umul128) +#endif + +RAPIDJSON_NAMESPACE_BEGIN +namespace internal { + +#ifdef __GNUC__ +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(effc++) +#endif + +#ifdef __clang__ +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(padded) +#endif + +struct DiyFp { + DiyFp() : f(), e() {} + + DiyFp(uint64_t fp, int exp) : f(fp), e(exp) {} + + explicit DiyFp(double d) { + union { + double d; + uint64_t u64; + } u = {d}; + + int biased_e = + static_cast((u.u64 & kDpExponentMask) >> kDpSignificandSize); + uint64_t significand = (u.u64 & kDpSignificandMask); + if (biased_e != 0) { + f = significand + kDpHiddenBit; + e = biased_e - kDpExponentBias; + } else { + f = significand; + e = kDpMinExponent + 1; + } + } + + DiyFp operator-(const DiyFp &rhs) const { return DiyFp(f - rhs.f, e); } + + DiyFp operator*(const DiyFp &rhs) const { +#if defined(_MSC_VER) && defined(_M_AMD64) + uint64_t h; + uint64_t l = _umul128(f, rhs.f, &h); + if (l & (uint64_t(1) << 63)) // rounding + h++; + return DiyFp(h, e + rhs.e + 64); +#elif (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) && \ + defined(__x86_64__) + __extension__ typedef unsigned __int128 uint128; + uint128 p = static_cast(f) * static_cast(rhs.f); + uint64_t h = static_cast(p >> 64); + uint64_t l = static_cast(p); + if (l & (uint64_t(1) << 63)) // rounding + h++; + return DiyFp(h, e + rhs.e + 64); +#else + const uint64_t M32 = 0xFFFFFFFF; + const uint64_t a = f >> 32; + const uint64_t b = f & M32; + const uint64_t c = rhs.f >> 32; + const uint64_t d = rhs.f & M32; + const uint64_t ac = a * c; + const uint64_t bc = b * c; + const uint64_t ad = a * d; + const uint64_t bd = b * d; + uint64_t tmp = (bd >> 32) + (ad & M32) + (bc & M32); + tmp += 1U << 31; /// mult_round + return DiyFp(ac + (ad >> 32) + (bc >> 32) + (tmp >> 32), e + rhs.e + 64); +#endif + } + + DiyFp Normalize() const { + int s = static_cast(RAPIDJSON_CLZLL(f)); + return DiyFp(f << s, e - s); + } + + DiyFp NormalizeBoundary() const { + DiyFp res = *this; + while (!(res.f & (kDpHiddenBit << 1))) { + res.f <<= 1; + res.e--; + } + res.f <<= (kDiySignificandSize - kDpSignificandSize - 2); + res.e = res.e - (kDiySignificandSize - kDpSignificandSize - 2); + return res; + } + + void NormalizedBoundaries(DiyFp *minus, DiyFp *plus) const { + DiyFp pl = DiyFp((f << 1) + 1, e - 1).NormalizeBoundary(); + DiyFp mi = (f == kDpHiddenBit) ? DiyFp((f << 2) - 1, e - 2) + : DiyFp((f << 1) - 1, e - 1); + mi.f <<= mi.e - pl.e; + mi.e = pl.e; + *plus = pl; + *minus = mi; + } + + double ToDouble() const { + union { + double d; + uint64_t u64; + } u; + RAPIDJSON_ASSERT(f <= kDpHiddenBit + kDpSignificandMask); + if (e < kDpDenormalExponent) { + // Underflow. + return 0.0; + } + if (e >= kDpMaxExponent) { + // Overflow. + return std::numeric_limits::infinity(); + } + const uint64_t be = (e == kDpDenormalExponent && (f & kDpHiddenBit) == 0) + ? 0 + : static_cast(e + kDpExponentBias); + u.u64 = (f & kDpSignificandMask) | (be << kDpSignificandSize); + return u.d; + } + + static const int kDiySignificandSize = 64; + static const int kDpSignificandSize = 52; + static const int kDpExponentBias = 0x3FF + kDpSignificandSize; + static const int kDpMaxExponent = 0x7FF - kDpExponentBias; + static const int kDpMinExponent = -kDpExponentBias; + static const int kDpDenormalExponent = -kDpExponentBias + 1; + static const uint64_t kDpExponentMask = + RAPIDJSON_UINT64_C2(0x7FF00000, 0x00000000); + static const uint64_t kDpSignificandMask = + RAPIDJSON_UINT64_C2(0x000FFFFF, 0xFFFFFFFF); + static const uint64_t kDpHiddenBit = + RAPIDJSON_UINT64_C2(0x00100000, 0x00000000); + + uint64_t f; + int e; +}; + +inline DiyFp GetCachedPowerByIndex(size_t index) { + // 10^-348, 10^-340, ..., 10^340 + static const uint64_t kCachedPowers_F[] = { + RAPIDJSON_UINT64_C2(0xfa8fd5a0, 0x081c0288), + RAPIDJSON_UINT64_C2(0xbaaee17f, 0xa23ebf76), + RAPIDJSON_UINT64_C2(0x8b16fb20, 0x3055ac76), + RAPIDJSON_UINT64_C2(0xcf42894a, 0x5dce35ea), + RAPIDJSON_UINT64_C2(0x9a6bb0aa, 0x55653b2d), + RAPIDJSON_UINT64_C2(0xe61acf03, 0x3d1a45df), + RAPIDJSON_UINT64_C2(0xab70fe17, 0xc79ac6ca), + RAPIDJSON_UINT64_C2(0xff77b1fc, 0xbebcdc4f), + RAPIDJSON_UINT64_C2(0xbe5691ef, 0x416bd60c), + RAPIDJSON_UINT64_C2(0x8dd01fad, 0x907ffc3c), + RAPIDJSON_UINT64_C2(0xd3515c28, 0x31559a83), + RAPIDJSON_UINT64_C2(0x9d71ac8f, 0xada6c9b5), + RAPIDJSON_UINT64_C2(0xea9c2277, 0x23ee8bcb), + RAPIDJSON_UINT64_C2(0xaecc4991, 0x4078536d), + RAPIDJSON_UINT64_C2(0x823c1279, 0x5db6ce57), + RAPIDJSON_UINT64_C2(0xc2109436, 0x4dfb5637), + RAPIDJSON_UINT64_C2(0x9096ea6f, 0x3848984f), + RAPIDJSON_UINT64_C2(0xd77485cb, 0x25823ac7), + RAPIDJSON_UINT64_C2(0xa086cfcd, 0x97bf97f4), + RAPIDJSON_UINT64_C2(0xef340a98, 0x172aace5), + RAPIDJSON_UINT64_C2(0xb23867fb, 0x2a35b28e), + RAPIDJSON_UINT64_C2(0x84c8d4df, 0xd2c63f3b), + RAPIDJSON_UINT64_C2(0xc5dd4427, 0x1ad3cdba), + RAPIDJSON_UINT64_C2(0x936b9fce, 0xbb25c996), + RAPIDJSON_UINT64_C2(0xdbac6c24, 0x7d62a584), + RAPIDJSON_UINT64_C2(0xa3ab6658, 0x0d5fdaf6), + RAPIDJSON_UINT64_C2(0xf3e2f893, 0xdec3f126), + RAPIDJSON_UINT64_C2(0xb5b5ada8, 0xaaff80b8), + RAPIDJSON_UINT64_C2(0x87625f05, 0x6c7c4a8b), + RAPIDJSON_UINT64_C2(0xc9bcff60, 0x34c13053), + RAPIDJSON_UINT64_C2(0x964e858c, 0x91ba2655), + RAPIDJSON_UINT64_C2(0xdff97724, 0x70297ebd), + RAPIDJSON_UINT64_C2(0xa6dfbd9f, 0xb8e5b88f), + RAPIDJSON_UINT64_C2(0xf8a95fcf, 0x88747d94), + RAPIDJSON_UINT64_C2(0xb9447093, 0x8fa89bcf), + RAPIDJSON_UINT64_C2(0x8a08f0f8, 0xbf0f156b), + RAPIDJSON_UINT64_C2(0xcdb02555, 0x653131b6), + RAPIDJSON_UINT64_C2(0x993fe2c6, 0xd07b7fac), + RAPIDJSON_UINT64_C2(0xe45c10c4, 0x2a2b3b06), + RAPIDJSON_UINT64_C2(0xaa242499, 0x697392d3), + RAPIDJSON_UINT64_C2(0xfd87b5f2, 0x8300ca0e), + RAPIDJSON_UINT64_C2(0xbce50864, 0x92111aeb), + RAPIDJSON_UINT64_C2(0x8cbccc09, 0x6f5088cc), + RAPIDJSON_UINT64_C2(0xd1b71758, 0xe219652c), + RAPIDJSON_UINT64_C2(0x9c400000, 0x00000000), + RAPIDJSON_UINT64_C2(0xe8d4a510, 0x00000000), + RAPIDJSON_UINT64_C2(0xad78ebc5, 0xac620000), + RAPIDJSON_UINT64_C2(0x813f3978, 0xf8940984), + RAPIDJSON_UINT64_C2(0xc097ce7b, 0xc90715b3), + RAPIDJSON_UINT64_C2(0x8f7e32ce, 0x7bea5c70), + RAPIDJSON_UINT64_C2(0xd5d238a4, 0xabe98068), + RAPIDJSON_UINT64_C2(0x9f4f2726, 0x179a2245), + RAPIDJSON_UINT64_C2(0xed63a231, 0xd4c4fb27), + RAPIDJSON_UINT64_C2(0xb0de6538, 0x8cc8ada8), + RAPIDJSON_UINT64_C2(0x83c7088e, 0x1aab65db), + RAPIDJSON_UINT64_C2(0xc45d1df9, 0x42711d9a), + RAPIDJSON_UINT64_C2(0x924d692c, 0xa61be758), + RAPIDJSON_UINT64_C2(0xda01ee64, 0x1a708dea), + RAPIDJSON_UINT64_C2(0xa26da399, 0x9aef774a), + RAPIDJSON_UINT64_C2(0xf209787b, 0xb47d6b85), + RAPIDJSON_UINT64_C2(0xb454e4a1, 0x79dd1877), + RAPIDJSON_UINT64_C2(0x865b8692, 0x5b9bc5c2), + RAPIDJSON_UINT64_C2(0xc83553c5, 0xc8965d3d), + RAPIDJSON_UINT64_C2(0x952ab45c, 0xfa97a0b3), + RAPIDJSON_UINT64_C2(0xde469fbd, 0x99a05fe3), + RAPIDJSON_UINT64_C2(0xa59bc234, 0xdb398c25), + RAPIDJSON_UINT64_C2(0xf6c69a72, 0xa3989f5c), + RAPIDJSON_UINT64_C2(0xb7dcbf53, 0x54e9bece), + RAPIDJSON_UINT64_C2(0x88fcf317, 0xf22241e2), + RAPIDJSON_UINT64_C2(0xcc20ce9b, 0xd35c78a5), + RAPIDJSON_UINT64_C2(0x98165af3, 0x7b2153df), + RAPIDJSON_UINT64_C2(0xe2a0b5dc, 0x971f303a), + RAPIDJSON_UINT64_C2(0xa8d9d153, 0x5ce3b396), + RAPIDJSON_UINT64_C2(0xfb9b7cd9, 0xa4a7443c), + RAPIDJSON_UINT64_C2(0xbb764c4c, 0xa7a44410), + RAPIDJSON_UINT64_C2(0x8bab8eef, 0xb6409c1a), + RAPIDJSON_UINT64_C2(0xd01fef10, 0xa657842c), + RAPIDJSON_UINT64_C2(0x9b10a4e5, 0xe9913129), + RAPIDJSON_UINT64_C2(0xe7109bfb, 0xa19c0c9d), + RAPIDJSON_UINT64_C2(0xac2820d9, 0x623bf429), + RAPIDJSON_UINT64_C2(0x80444b5e, 0x7aa7cf85), + RAPIDJSON_UINT64_C2(0xbf21e440, 0x03acdd2d), + RAPIDJSON_UINT64_C2(0x8e679c2f, 0x5e44ff8f), + RAPIDJSON_UINT64_C2(0xd433179d, 0x9c8cb841), + RAPIDJSON_UINT64_C2(0x9e19db92, 0xb4e31ba9), + RAPIDJSON_UINT64_C2(0xeb96bf6e, 0xbadf77d9), + RAPIDJSON_UINT64_C2(0xaf87023b, 0x9bf0ee6b)}; + static const int16_t kCachedPowers_E[] = { + -1220, -1193, -1166, -1140, -1113, -1087, -1060, -1034, -1007, -980, -954, + -927, -901, -874, -847, -821, -794, -768, -741, -715, -688, -661, + -635, -608, -582, -555, -529, -502, -475, -449, -422, -396, -369, + -343, -316, -289, -263, -236, -210, -183, -157, -130, -103, -77, + -50, -24, 3, 30, 56, 83, 109, 136, 162, 189, 216, + 242, 269, 295, 322, 348, 375, 402, 428, 455, 481, 508, + 534, 561, 588, 614, 641, 667, 694, 720, 747, 774, 800, + 827, 853, 880, 907, 933, 960, 986, 1013, 1039, 1066}; + RAPIDJSON_ASSERT(index < 87); + return DiyFp(kCachedPowers_F[index], kCachedPowers_E[index]); +} + +inline DiyFp GetCachedPower(int e, int *K) { + // int k = static_cast(ceil((-61 - e) * 0.30102999566398114)) + 374; + double dk = (-61 - e) * 0.30102999566398114 + + 347; // dk must be positive, so can do ceiling in positive + int k = static_cast(dk); + if (dk - k > 0.0) k++; + + unsigned index = static_cast((k >> 3) + 1); + *K = -(-348 + static_cast( + index << 3)); // decimal exponent no need lookup table + + return GetCachedPowerByIndex(index); +} + +inline DiyFp GetCachedPower10(int exp, int *outExp) { + RAPIDJSON_ASSERT(exp >= -348); + unsigned index = static_cast(exp + 348) / 8u; + *outExp = -348 + static_cast(index) * 8; + return GetCachedPowerByIndex(index); +} + +#ifdef __GNUC__ +RAPIDJSON_DIAG_POP +#endif + +#ifdef __clang__ +RAPIDJSON_DIAG_POP +RAPIDJSON_DIAG_OFF(padded) +#endif + +} // namespace internal +RAPIDJSON_NAMESPACE_END + +#endif // RAPIDJSON_DIYFP_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/dtoa.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/dtoa.h new file mode 100644 index 0000000..b64a79d --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/dtoa.h @@ -0,0 +1,269 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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. + +// This is a C++ header-only implementation of Grisu2 algorithm from the +// publication: Loitsch, Florian. "Printing floating-point numbers quickly and +// accurately with integers." ACM Sigplan Notices 45.6 (2010): 233-243. + +#ifndef RAPIDJSON_DTOA_ +#define RAPIDJSON_DTOA_ + +#include "diyfp.h" +#include "ieee754.h" +#include "itoa.h" // GetDigitsLut() + +RAPIDJSON_NAMESPACE_BEGIN +namespace internal { + +#ifdef __GNUC__ +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(effc++) +RAPIDJSON_DIAG_OFF(array - bounds) // some gcc versions generate wrong warnings +// https://gcc.gnu.org/bugzilla/show_bug.cgi?id=59124 +#endif + +inline void GrisuRound(char *buffer, int len, uint64_t delta, uint64_t rest, + uint64_t ten_kappa, uint64_t wp_w) { + while (rest < wp_w && delta - rest >= ten_kappa && + (rest + ten_kappa < wp_w || /// closer + wp_w - rest > rest + ten_kappa - wp_w)) { + buffer[len - 1]--; + rest += ten_kappa; + } +} + +inline int CountDecimalDigit32(uint32_t n) { + // Simple pure C++ implementation was faster than __builtin_clz version in + // this situation. + if (n < 10) return 1; + if (n < 100) return 2; + if (n < 1000) return 3; + if (n < 10000) return 4; + if (n < 100000) return 5; + if (n < 1000000) return 6; + if (n < 10000000) return 7; + if (n < 100000000) return 8; + // Will not reach 10 digits in DigitGen() + // if (n < 1000000000) return 9; + // return 10; + return 9; +} + +inline void DigitGen(const DiyFp &W, const DiyFp &Mp, uint64_t delta, + char *buffer, int *len, int *K) { + static const uint32_t kPow10[] = {1, 10, 100, 1000, + 10000, 100000, 1000000, 10000000, + 100000000, 1000000000}; + const DiyFp one(uint64_t(1) << -Mp.e, Mp.e); + const DiyFp wp_w = Mp - W; + uint32_t p1 = static_cast(Mp.f >> -one.e); + uint64_t p2 = Mp.f & (one.f - 1); + int kappa = CountDecimalDigit32(p1); // kappa in [0, 9] + *len = 0; + + while (kappa > 0) { + uint32_t d = 0; + switch (kappa) { + case 9: + d = p1 / 100000000; + p1 %= 100000000; + break; + case 8: + d = p1 / 10000000; + p1 %= 10000000; + break; + case 7: + d = p1 / 1000000; + p1 %= 1000000; + break; + case 6: + d = p1 / 100000; + p1 %= 100000; + break; + case 5: + d = p1 / 10000; + p1 %= 10000; + break; + case 4: + d = p1 / 1000; + p1 %= 1000; + break; + case 3: + d = p1 / 100; + p1 %= 100; + break; + case 2: + d = p1 / 10; + p1 %= 10; + break; + case 1: + d = p1; + p1 = 0; + break; + default:; + } + if (d || *len) + buffer[(*len)++] = static_cast('0' + static_cast(d)); + kappa--; + uint64_t tmp = (static_cast(p1) << -one.e) + p2; + if (tmp <= delta) { + *K += kappa; + GrisuRound(buffer, *len, delta, tmp, + static_cast(kPow10[kappa]) << -one.e, wp_w.f); + return; + } + } + + // kappa = 0 + for (;;) { + p2 *= 10; + delta *= 10; + char d = static_cast(p2 >> -one.e); + if (d || *len) buffer[(*len)++] = static_cast('0' + d); + p2 &= one.f - 1; + kappa--; + if (p2 < delta) { + *K += kappa; + int index = -kappa; + GrisuRound(buffer, *len, delta, p2, one.f, + wp_w.f * (index < 9 ? kPow10[index] : 0)); + return; + } + } +} + +inline void Grisu2(double value, char *buffer, int *length, int *K) { + const DiyFp v(value); + DiyFp w_m, w_p; + v.NormalizedBoundaries(&w_m, &w_p); + + const DiyFp c_mk = GetCachedPower(w_p.e, K); + const DiyFp W = v.Normalize() * c_mk; + DiyFp Wp = w_p * c_mk; + DiyFp Wm = w_m * c_mk; + Wm.f++; + Wp.f--; + DigitGen(W, Wp, Wp.f - Wm.f, buffer, length, K); +} + +inline char *WriteExponent(int K, char *buffer) { + if (K < 0) { + *buffer++ = '-'; + K = -K; + } + + if (K >= 100) { + *buffer++ = static_cast('0' + static_cast(K / 100)); + K %= 100; + const char *d = GetDigitsLut() + K * 2; + *buffer++ = d[0]; + *buffer++ = d[1]; + } else if (K >= 10) { + const char *d = GetDigitsLut() + K * 2; + *buffer++ = d[0]; + *buffer++ = d[1]; + } else + *buffer++ = static_cast('0' + static_cast(K)); + + return buffer; +} + +inline char *Prettify(char *buffer, int length, int k, int maxDecimalPlaces) { + const int kk = length + k; // 10^(kk-1) <= v < 10^kk + + if (0 <= k && kk <= 21) { + // 1234e7 -> 12340000000 + for (int i = length; i < kk; i++) buffer[i] = '0'; + buffer[kk] = '.'; + buffer[kk + 1] = '0'; + return &buffer[kk + 2]; + } else if (0 < kk && kk <= 21) { + // 1234e-2 -> 12.34 + std::memmove(&buffer[kk + 1], &buffer[kk], + static_cast(length - kk)); + buffer[kk] = '.'; + if (0 > k + maxDecimalPlaces) { + // When maxDecimalPlaces = 2, 1.2345 -> 1.23, 1.102 -> 1.1 + // Remove extra trailing zeros (at least one) after truncation. + for (int i = kk + maxDecimalPlaces; i > kk + 1; i--) + if (buffer[i] != '0') return &buffer[i + 1]; + return &buffer[kk + 2]; // Reserve one zero + } else + return &buffer[length + 1]; + } else if (-6 < kk && kk <= 0) { + // 1234e-6 -> 0.001234 + const int offset = 2 - kk; + std::memmove(&buffer[offset], &buffer[0], static_cast(length)); + buffer[0] = '0'; + buffer[1] = '.'; + for (int i = 2; i < offset; i++) buffer[i] = '0'; + if (length - kk > maxDecimalPlaces) { + // When maxDecimalPlaces = 2, 0.123 -> 0.12, 0.102 -> 0.1 + // Remove extra trailing zeros (at least one) after truncation. + for (int i = maxDecimalPlaces + 1; i > 2; i--) + if (buffer[i] != '0') return &buffer[i + 1]; + return &buffer[3]; // Reserve one zero + } else + return &buffer[length + offset]; + } else if (kk < -maxDecimalPlaces) { + // Truncate to zero + buffer[0] = '0'; + buffer[1] = '.'; + buffer[2] = '0'; + return &buffer[3]; + } else if (length == 1) { + // 1e30 + buffer[1] = 'e'; + return WriteExponent(kk - 1, &buffer[2]); + } else { + // 1234e30 -> 1.234e33 + std::memmove(&buffer[2], &buffer[1], static_cast(length - 1)); + buffer[1] = '.'; + buffer[length + 1] = 'e'; + return WriteExponent(kk - 1, &buffer[0 + length + 2]); + } +} + +inline char *dtoa(double value, char *buffer, int maxDecimalPlaces = 324) { + RAPIDJSON_ASSERT(maxDecimalPlaces >= 1); + Double d(value); + if (d.IsZero()) { + if (d.Sign()) *buffer++ = '-'; // -0.0, Issue #289 + buffer[0] = '0'; + buffer[1] = '.'; + buffer[2] = '0'; + return &buffer[3]; + } else { + if (value < 0) { + *buffer++ = '-'; + value = -value; + } + int length, K; + Grisu2(value, buffer, &length, &K); + return Prettify(buffer, length, K, maxDecimalPlaces); + } +} + +#ifdef __GNUC__ +RAPIDJSON_DIAG_POP +#endif + +} // namespace internal +RAPIDJSON_NAMESPACE_END + +#endif // RAPIDJSON_DTOA_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/ieee754.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/ieee754.h new file mode 100644 index 0000000..246c4ac --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/ieee754.h @@ -0,0 +1,100 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_IEEE754_ +#define RAPIDJSON_IEEE754_ + +#include "../rapidjson.h" + +RAPIDJSON_NAMESPACE_BEGIN +namespace internal { + +class Double { + public: + Double() {} + Double(double d) : d_(d) {} + Double(uint64_t u) : u_(u) {} + + double Value() const { return d_; } + uint64_t Uint64Value() const { return u_; } + + double NextPositiveDouble() const { + RAPIDJSON_ASSERT(!Sign()); + return Double(u_ + 1).Value(); + } + + bool Sign() const { return (u_ & kSignMask) != 0; } + uint64_t Significand() const { return u_ & kSignificandMask; } + int Exponent() const { + return static_cast(((u_ & kExponentMask) >> kSignificandSize) - + kExponentBias); + } + + bool IsNan() const { + return (u_ & kExponentMask) == kExponentMask && Significand() != 0; + } + bool IsInf() const { + return (u_ & kExponentMask) == kExponentMask && Significand() == 0; + } + bool IsNanOrInf() const { return (u_ & kExponentMask) == kExponentMask; } + bool IsNormal() const { + return (u_ & kExponentMask) != 0 || Significand() == 0; + } + bool IsZero() const { return (u_ & (kExponentMask | kSignificandMask)) == 0; } + + uint64_t IntegerSignificand() const { + return IsNormal() ? Significand() | kHiddenBit : Significand(); + } + int IntegerExponent() const { + return (IsNormal() ? Exponent() : kDenormalExponent) - kSignificandSize; + } + uint64_t ToBias() const { + return (u_ & kSignMask) ? ~u_ + 1 : u_ | kSignMask; + } + + static int EffectiveSignificandSize(int order) { + if (order >= -1021) + return 53; + else if (order <= -1074) + return 0; + else + return order + 1074; + } + + private: + static const int kSignificandSize = 52; + static const int kExponentBias = 0x3FF; + static const int kDenormalExponent = 1 - kExponentBias; + static const uint64_t kSignMask = RAPIDJSON_UINT64_C2(0x80000000, 0x00000000); + static const uint64_t kExponentMask = + RAPIDJSON_UINT64_C2(0x7FF00000, 0x00000000); + static const uint64_t kSignificandMask = + RAPIDJSON_UINT64_C2(0x000FFFFF, 0xFFFFFFFF); + static const uint64_t kHiddenBit = + RAPIDJSON_UINT64_C2(0x00100000, 0x00000000); + + union { + double d_; + uint64_t u_; + }; +}; + +} // namespace internal +RAPIDJSON_NAMESPACE_END + +#endif // RAPIDJSON_IEEE754_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/itoa.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/itoa.h new file mode 100644 index 0000000..ec1174c --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/itoa.h @@ -0,0 +1,288 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_ITOA_ +#define RAPIDJSON_ITOA_ + +#include "../rapidjson.h" + +RAPIDJSON_NAMESPACE_BEGIN +namespace internal { + +inline const char *GetDigitsLut() { + static const char cDigitsLut[200] = { + '0', '0', '0', '1', '0', '2', '0', '3', '0', '4', '0', '5', '0', '6', '0', + '7', '0', '8', '0', '9', '1', '0', '1', '1', '1', '2', '1', '3', '1', '4', + '1', '5', '1', '6', '1', '7', '1', '8', '1', '9', '2', '0', '2', '1', '2', + '2', '2', '3', '2', '4', '2', '5', '2', '6', '2', '7', '2', '8', '2', '9', + '3', '0', '3', '1', '3', '2', '3', '3', '3', '4', '3', '5', '3', '6', '3', + '7', '3', '8', '3', '9', '4', '0', '4', '1', '4', '2', '4', '3', '4', '4', + '4', '5', '4', '6', '4', '7', '4', '8', '4', '9', '5', '0', '5', '1', '5', + '2', '5', '3', '5', '4', '5', '5', '5', '6', '5', '7', '5', '8', '5', '9', + '6', '0', '6', '1', '6', '2', '6', '3', '6', '4', '6', '5', '6', '6', '6', + '7', '6', '8', '6', '9', '7', '0', '7', '1', '7', '2', '7', '3', '7', '4', + '7', '5', '7', '6', '7', '7', '7', '8', '7', '9', '8', '0', '8', '1', '8', + '2', '8', '3', '8', '4', '8', '5', '8', '6', '8', '7', '8', '8', '8', '9', + '9', '0', '9', '1', '9', '2', '9', '3', '9', '4', '9', '5', '9', '6', '9', + '7', '9', '8', '9', '9'}; + return cDigitsLut; +} + +inline char *u32toa(uint32_t value, char *buffer) { + RAPIDJSON_ASSERT(buffer != 0); + + const char *cDigitsLut = GetDigitsLut(); + + if (value < 10000) { + const uint32_t d1 = (value / 100) << 1; + const uint32_t d2 = (value % 100) << 1; + + if (value >= 1000) *buffer++ = cDigitsLut[d1]; + if (value >= 100) *buffer++ = cDigitsLut[d1 + 1]; + if (value >= 10) *buffer++ = cDigitsLut[d2]; + *buffer++ = cDigitsLut[d2 + 1]; + } else if (value < 100000000) { + // value = bbbbcccc + const uint32_t b = value / 10000; + const uint32_t c = value % 10000; + + const uint32_t d1 = (b / 100) << 1; + const uint32_t d2 = (b % 100) << 1; + + const uint32_t d3 = (c / 100) << 1; + const uint32_t d4 = (c % 100) << 1; + + if (value >= 10000000) *buffer++ = cDigitsLut[d1]; + if (value >= 1000000) *buffer++ = cDigitsLut[d1 + 1]; + if (value >= 100000) *buffer++ = cDigitsLut[d2]; + *buffer++ = cDigitsLut[d2 + 1]; + + *buffer++ = cDigitsLut[d3]; + *buffer++ = cDigitsLut[d3 + 1]; + *buffer++ = cDigitsLut[d4]; + *buffer++ = cDigitsLut[d4 + 1]; + } else { + // value = aabbbbcccc in decimal + + const uint32_t a = value / 100000000; // 1 to 42 + value %= 100000000; + + if (a >= 10) { + const unsigned i = a << 1; + *buffer++ = cDigitsLut[i]; + *buffer++ = cDigitsLut[i + 1]; + } else + *buffer++ = static_cast('0' + static_cast(a)); + + const uint32_t b = value / 10000; // 0 to 9999 + const uint32_t c = value % 10000; // 0 to 9999 + + const uint32_t d1 = (b / 100) << 1; + const uint32_t d2 = (b % 100) << 1; + + const uint32_t d3 = (c / 100) << 1; + const uint32_t d4 = (c % 100) << 1; + + *buffer++ = cDigitsLut[d1]; + *buffer++ = cDigitsLut[d1 + 1]; + *buffer++ = cDigitsLut[d2]; + *buffer++ = cDigitsLut[d2 + 1]; + *buffer++ = cDigitsLut[d3]; + *buffer++ = cDigitsLut[d3 + 1]; + *buffer++ = cDigitsLut[d4]; + *buffer++ = cDigitsLut[d4 + 1]; + } + return buffer; +} + +inline char *i32toa(int32_t value, char *buffer) { + RAPIDJSON_ASSERT(buffer != 0); + uint32_t u = static_cast(value); + if (value < 0) { + *buffer++ = '-'; + u = ~u + 1; + } + + return u32toa(u, buffer); +} + +inline char *u64toa(uint64_t value, char *buffer) { + RAPIDJSON_ASSERT(buffer != 0); + const char *cDigitsLut = GetDigitsLut(); + const uint64_t kTen8 = 100000000; + const uint64_t kTen9 = kTen8 * 10; + const uint64_t kTen10 = kTen8 * 100; + const uint64_t kTen11 = kTen8 * 1000; + const uint64_t kTen12 = kTen8 * 10000; + const uint64_t kTen13 = kTen8 * 100000; + const uint64_t kTen14 = kTen8 * 1000000; + const uint64_t kTen15 = kTen8 * 10000000; + const uint64_t kTen16 = kTen8 * kTen8; + + if (value < kTen8) { + uint32_t v = static_cast(value); + if (v < 10000) { + const uint32_t d1 = (v / 100) << 1; + const uint32_t d2 = (v % 100) << 1; + + if (v >= 1000) *buffer++ = cDigitsLut[d1]; + if (v >= 100) *buffer++ = cDigitsLut[d1 + 1]; + if (v >= 10) *buffer++ = cDigitsLut[d2]; + *buffer++ = cDigitsLut[d2 + 1]; + } else { + // value = bbbbcccc + const uint32_t b = v / 10000; + const uint32_t c = v % 10000; + + const uint32_t d1 = (b / 100) << 1; + const uint32_t d2 = (b % 100) << 1; + + const uint32_t d3 = (c / 100) << 1; + const uint32_t d4 = (c % 100) << 1; + + if (value >= 10000000) *buffer++ = cDigitsLut[d1]; + if (value >= 1000000) *buffer++ = cDigitsLut[d1 + 1]; + if (value >= 100000) *buffer++ = cDigitsLut[d2]; + *buffer++ = cDigitsLut[d2 + 1]; + + *buffer++ = cDigitsLut[d3]; + *buffer++ = cDigitsLut[d3 + 1]; + *buffer++ = cDigitsLut[d4]; + *buffer++ = cDigitsLut[d4 + 1]; + } + } else if (value < kTen16) { + const uint32_t v0 = static_cast(value / kTen8); + const uint32_t v1 = static_cast(value % kTen8); + + const uint32_t b0 = v0 / 10000; + const uint32_t c0 = v0 % 10000; + + const uint32_t d1 = (b0 / 100) << 1; + const uint32_t d2 = (b0 % 100) << 1; + + const uint32_t d3 = (c0 / 100) << 1; + const uint32_t d4 = (c0 % 100) << 1; + + const uint32_t b1 = v1 / 10000; + const uint32_t c1 = v1 % 10000; + + const uint32_t d5 = (b1 / 100) << 1; + const uint32_t d6 = (b1 % 100) << 1; + + const uint32_t d7 = (c1 / 100) << 1; + const uint32_t d8 = (c1 % 100) << 1; + + if (value >= kTen15) *buffer++ = cDigitsLut[d1]; + if (value >= kTen14) *buffer++ = cDigitsLut[d1 + 1]; + if (value >= kTen13) *buffer++ = cDigitsLut[d2]; + if (value >= kTen12) *buffer++ = cDigitsLut[d2 + 1]; + if (value >= kTen11) *buffer++ = cDigitsLut[d3]; + if (value >= kTen10) *buffer++ = cDigitsLut[d3 + 1]; + if (value >= kTen9) *buffer++ = cDigitsLut[d4]; + + *buffer++ = cDigitsLut[d4 + 1]; + *buffer++ = cDigitsLut[d5]; + *buffer++ = cDigitsLut[d5 + 1]; + *buffer++ = cDigitsLut[d6]; + *buffer++ = cDigitsLut[d6 + 1]; + *buffer++ = cDigitsLut[d7]; + *buffer++ = cDigitsLut[d7 + 1]; + *buffer++ = cDigitsLut[d8]; + *buffer++ = cDigitsLut[d8 + 1]; + } else { + const uint32_t a = static_cast(value / kTen16); // 1 to 1844 + value %= kTen16; + + if (a < 10) + *buffer++ = static_cast('0' + static_cast(a)); + else if (a < 100) { + const uint32_t i = a << 1; + *buffer++ = cDigitsLut[i]; + *buffer++ = cDigitsLut[i + 1]; + } else if (a < 1000) { + *buffer++ = static_cast('0' + static_cast(a / 100)); + + const uint32_t i = (a % 100) << 1; + *buffer++ = cDigitsLut[i]; + *buffer++ = cDigitsLut[i + 1]; + } else { + const uint32_t i = (a / 100) << 1; + const uint32_t j = (a % 100) << 1; + *buffer++ = cDigitsLut[i]; + *buffer++ = cDigitsLut[i + 1]; + *buffer++ = cDigitsLut[j]; + *buffer++ = cDigitsLut[j + 1]; + } + + const uint32_t v0 = static_cast(value / kTen8); + const uint32_t v1 = static_cast(value % kTen8); + + const uint32_t b0 = v0 / 10000; + const uint32_t c0 = v0 % 10000; + + const uint32_t d1 = (b0 / 100) << 1; + const uint32_t d2 = (b0 % 100) << 1; + + const uint32_t d3 = (c0 / 100) << 1; + const uint32_t d4 = (c0 % 100) << 1; + + const uint32_t b1 = v1 / 10000; + const uint32_t c1 = v1 % 10000; + + const uint32_t d5 = (b1 / 100) << 1; + const uint32_t d6 = (b1 % 100) << 1; + + const uint32_t d7 = (c1 / 100) << 1; + const uint32_t d8 = (c1 % 100) << 1; + + *buffer++ = cDigitsLut[d1]; + *buffer++ = cDigitsLut[d1 + 1]; + *buffer++ = cDigitsLut[d2]; + *buffer++ = cDigitsLut[d2 + 1]; + *buffer++ = cDigitsLut[d3]; + *buffer++ = cDigitsLut[d3 + 1]; + *buffer++ = cDigitsLut[d4]; + *buffer++ = cDigitsLut[d4 + 1]; + *buffer++ = cDigitsLut[d5]; + *buffer++ = cDigitsLut[d5 + 1]; + *buffer++ = cDigitsLut[d6]; + *buffer++ = cDigitsLut[d6 + 1]; + *buffer++ = cDigitsLut[d7]; + *buffer++ = cDigitsLut[d7 + 1]; + *buffer++ = cDigitsLut[d8]; + *buffer++ = cDigitsLut[d8 + 1]; + } + + return buffer; +} + +inline char *i64toa(int64_t value, char *buffer) { + RAPIDJSON_ASSERT(buffer != 0); + uint64_t u = static_cast(value); + if (value < 0) { + *buffer++ = '-'; + u = ~u + 1; + } + + return u64toa(u, buffer); +} + +} // namespace internal +RAPIDJSON_NAMESPACE_END + +#endif // RAPIDJSON_ITOA_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/meta.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/meta.h new file mode 100644 index 0000000..598f576 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/meta.h @@ -0,0 +1,243 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_INTERNAL_META_H_ +#define RAPIDJSON_INTERNAL_META_H_ + +#include "../rapidjson.h" + +#ifdef __GNUC__ +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(effc++) +#endif + +#if defined(_MSC_VER) && !defined(__clang__) +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(6334) +#endif + +#if RAPIDJSON_HAS_CXX11_TYPETRAITS +#include +#endif + +//@cond RAPIDJSON_INTERNAL +RAPIDJSON_NAMESPACE_BEGIN +namespace internal { + +// Helper to wrap/convert arbitrary types to void, useful for arbitrary type +// matching +template +struct Void { + typedef void Type; +}; + +/////////////////////////////////////////////////////////////////////////////// +// BoolType, TrueType, FalseType +// +template +struct BoolType { + static const bool Value = Cond; + typedef BoolType Type; +}; +typedef BoolType TrueType; +typedef BoolType FalseType; + +/////////////////////////////////////////////////////////////////////////////// +// SelectIf, BoolExpr, NotExpr, AndExpr, OrExpr +// + +template +struct SelectIfImpl { + template + struct Apply { + typedef T1 Type; + }; +}; +template <> +struct SelectIfImpl { + template + struct Apply { + typedef T2 Type; + }; +}; +template +struct SelectIfCond : SelectIfImpl::template Apply {}; +template +struct SelectIf : SelectIfCond {}; + +template +struct AndExprCond : FalseType {}; +template <> +struct AndExprCond : TrueType {}; +template +struct OrExprCond : TrueType {}; +template <> +struct OrExprCond : FalseType {}; + +template +struct BoolExpr : SelectIf::Type {}; +template +struct NotExpr : SelectIf::Type {}; +template +struct AndExpr : AndExprCond::Type {}; +template +struct OrExpr : OrExprCond::Type {}; + +/////////////////////////////////////////////////////////////////////////////// +// AddConst, MaybeAddConst, RemoveConst +template +struct AddConst { + typedef const T Type; +}; +template +struct MaybeAddConst : SelectIfCond {}; +template +struct RemoveConst { + typedef T Type; +}; +template +struct RemoveConst { + typedef T Type; +}; + +/////////////////////////////////////////////////////////////////////////////// +// IsSame, IsConst, IsMoreConst, IsPointer +// +template +struct IsSame : FalseType {}; +template +struct IsSame : TrueType {}; + +template +struct IsConst : FalseType {}; +template +struct IsConst : TrueType {}; + +template +struct IsMoreConst + : AndExpr< + IsSame::Type, typename RemoveConst::Type>, + BoolType::Value >= IsConst::Value>>::Type {}; + +template +struct IsPointer : FalseType {}; +template +struct IsPointer : TrueType {}; + +/////////////////////////////////////////////////////////////////////////////// +// IsBaseOf +// +#if RAPIDJSON_HAS_CXX11_TYPETRAITS + +template +struct IsBaseOf : BoolType<::std::is_base_of::value> {}; + +#else // simplified version adopted from Boost + +template +struct IsBaseOfImpl { + RAPIDJSON_STATIC_ASSERT(sizeof(B) != 0); + RAPIDJSON_STATIC_ASSERT(sizeof(D) != 0); + + typedef char (&Yes)[1]; + typedef char (&No)[2]; + + template + static Yes Check(const D *, T); + static No Check(const B *, int); + + struct Host { + operator const B *() const; + operator const D *(); + }; + + enum { Value = (sizeof(Check(Host(), 0)) == sizeof(Yes)) }; +}; + +template +struct IsBaseOf : OrExpr, BoolExpr>>::Type {}; + +#endif // RAPIDJSON_HAS_CXX11_TYPETRAITS + +////////////////////////////////////////////////////////////////////////// +// EnableIf / DisableIf +// +template +struct EnableIfCond { + typedef T Type; +}; +template +struct EnableIfCond { /* empty */ +}; + +template +struct DisableIfCond { + typedef T Type; +}; +template +struct DisableIfCond { /* empty */ +}; + +template +struct EnableIf : EnableIfCond {}; + +template +struct DisableIf : DisableIfCond {}; + +// SFINAE helpers +struct SfinaeTag {}; +template +struct RemoveSfinaeTag; +template +struct RemoveSfinaeTag { + typedef T Type; +}; + +#define RAPIDJSON_REMOVEFPTR_(type) \ + typename ::RAPIDJSON_NAMESPACE::internal::RemoveSfinaeTag< \ + ::RAPIDJSON_NAMESPACE::internal::SfinaeTag &(*)type>::Type + +#define RAPIDJSON_ENABLEIF(cond) \ + typename ::RAPIDJSON_NAMESPACE::internal::EnableIf::Type * = NULL + +#define RAPIDJSON_DISABLEIF(cond) \ + typename ::RAPIDJSON_NAMESPACE::internal::DisableIf::Type * = NULL + +#define RAPIDJSON_ENABLEIF_RETURN(cond, returntype) \ + typename ::RAPIDJSON_NAMESPACE::internal::EnableIf< \ + RAPIDJSON_REMOVEFPTR_(cond), RAPIDJSON_REMOVEFPTR_(returntype)>::Type + +#define RAPIDJSON_DISABLEIF_RETURN(cond, returntype) \ + typename ::RAPIDJSON_NAMESPACE::internal::DisableIf< \ + RAPIDJSON_REMOVEFPTR_(cond), RAPIDJSON_REMOVEFPTR_(returntype)>::Type + +} // namespace internal +RAPIDJSON_NAMESPACE_END +//@endcond + +#if defined(_MSC_VER) && !defined(__clang__) +RAPIDJSON_DIAG_POP +#endif + +#ifdef __GNUC__ +RAPIDJSON_DIAG_POP +#endif + +#endif // RAPIDJSON_INTERNAL_META_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/pow10.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/pow10.h new file mode 100644 index 0000000..6f15f74 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/pow10.h @@ -0,0 +1,77 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_POW10_ +#define RAPIDJSON_POW10_ + +#include "../rapidjson.h" + +RAPIDJSON_NAMESPACE_BEGIN +namespace internal { + +//! Computes integer powers of 10 in double (10.0^n). +/*! This function uses lookup table for fast and accurate results. + \param n non-negative exponent. Must <= 308. + \return 10.0^n +*/ +inline double Pow10(int n) { + static const double e[] = { + // 1e-0...1e308: 309 * 8 bytes = 2472 bytes + 1e+0, 1e+1, 1e+2, 1e+3, 1e+4, 1e+5, 1e+6, 1e+7, 1e+8, + 1e+9, 1e+10, 1e+11, 1e+12, 1e+13, 1e+14, 1e+15, 1e+16, 1e+17, + 1e+18, 1e+19, 1e+20, 1e+21, 1e+22, 1e+23, 1e+24, 1e+25, 1e+26, + 1e+27, 1e+28, 1e+29, 1e+30, 1e+31, 1e+32, 1e+33, 1e+34, 1e+35, + 1e+36, 1e+37, 1e+38, 1e+39, 1e+40, 1e+41, 1e+42, 1e+43, 1e+44, + 1e+45, 1e+46, 1e+47, 1e+48, 1e+49, 1e+50, 1e+51, 1e+52, 1e+53, + 1e+54, 1e+55, 1e+56, 1e+57, 1e+58, 1e+59, 1e+60, 1e+61, 1e+62, + 1e+63, 1e+64, 1e+65, 1e+66, 1e+67, 1e+68, 1e+69, 1e+70, 1e+71, + 1e+72, 1e+73, 1e+74, 1e+75, 1e+76, 1e+77, 1e+78, 1e+79, 1e+80, + 1e+81, 1e+82, 1e+83, 1e+84, 1e+85, 1e+86, 1e+87, 1e+88, 1e+89, + 1e+90, 1e+91, 1e+92, 1e+93, 1e+94, 1e+95, 1e+96, 1e+97, 1e+98, + 1e+99, 1e+100, 1e+101, 1e+102, 1e+103, 1e+104, 1e+105, 1e+106, 1e+107, + 1e+108, 1e+109, 1e+110, 1e+111, 1e+112, 1e+113, 1e+114, 1e+115, 1e+116, + 1e+117, 1e+118, 1e+119, 1e+120, 1e+121, 1e+122, 1e+123, 1e+124, 1e+125, + 1e+126, 1e+127, 1e+128, 1e+129, 1e+130, 1e+131, 1e+132, 1e+133, 1e+134, + 1e+135, 1e+136, 1e+137, 1e+138, 1e+139, 1e+140, 1e+141, 1e+142, 1e+143, + 1e+144, 1e+145, 1e+146, 1e+147, 1e+148, 1e+149, 1e+150, 1e+151, 1e+152, + 1e+153, 1e+154, 1e+155, 1e+156, 1e+157, 1e+158, 1e+159, 1e+160, 1e+161, + 1e+162, 1e+163, 1e+164, 1e+165, 1e+166, 1e+167, 1e+168, 1e+169, 1e+170, + 1e+171, 1e+172, 1e+173, 1e+174, 1e+175, 1e+176, 1e+177, 1e+178, 1e+179, + 1e+180, 1e+181, 1e+182, 1e+183, 1e+184, 1e+185, 1e+186, 1e+187, 1e+188, + 1e+189, 1e+190, 1e+191, 1e+192, 1e+193, 1e+194, 1e+195, 1e+196, 1e+197, + 1e+198, 1e+199, 1e+200, 1e+201, 1e+202, 1e+203, 1e+204, 1e+205, 1e+206, + 1e+207, 1e+208, 1e+209, 1e+210, 1e+211, 1e+212, 1e+213, 1e+214, 1e+215, + 1e+216, 1e+217, 1e+218, 1e+219, 1e+220, 1e+221, 1e+222, 1e+223, 1e+224, + 1e+225, 1e+226, 1e+227, 1e+228, 1e+229, 1e+230, 1e+231, 1e+232, 1e+233, + 1e+234, 1e+235, 1e+236, 1e+237, 1e+238, 1e+239, 1e+240, 1e+241, 1e+242, + 1e+243, 1e+244, 1e+245, 1e+246, 1e+247, 1e+248, 1e+249, 1e+250, 1e+251, + 1e+252, 1e+253, 1e+254, 1e+255, 1e+256, 1e+257, 1e+258, 1e+259, 1e+260, + 1e+261, 1e+262, 1e+263, 1e+264, 1e+265, 1e+266, 1e+267, 1e+268, 1e+269, + 1e+270, 1e+271, 1e+272, 1e+273, 1e+274, 1e+275, 1e+276, 1e+277, 1e+278, + 1e+279, 1e+280, 1e+281, 1e+282, 1e+283, 1e+284, 1e+285, 1e+286, 1e+287, + 1e+288, 1e+289, 1e+290, 1e+291, 1e+292, 1e+293, 1e+294, 1e+295, 1e+296, + 1e+297, 1e+298, 1e+299, 1e+300, 1e+301, 1e+302, 1e+303, 1e+304, 1e+305, + 1e+306, 1e+307, 1e+308}; + RAPIDJSON_ASSERT(n >= 0 && n <= 308); + return e[n]; +} + +} // namespace internal +RAPIDJSON_NAMESPACE_END + +#endif // RAPIDJSON_POW10_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/regex.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/regex.h new file mode 100644 index 0000000..19f49da --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/regex.h @@ -0,0 +1,753 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_INTERNAL_REGEX_H_ +#define RAPIDJSON_INTERNAL_REGEX_H_ + +#include "../allocators.h" +#include "../stream.h" +#include "stack.h" + +#ifdef __clang__ +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(padded) +RAPIDJSON_DIAG_OFF(switch - enum) +#elif defined(_MSC_VER) +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(4512) // assignment operator could not be generated +#endif + +#ifdef __GNUC__ +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(effc++) +#endif + +#ifndef RAPIDJSON_REGEX_VERBOSE +#define RAPIDJSON_REGEX_VERBOSE 0 +#endif + +RAPIDJSON_NAMESPACE_BEGIN +namespace internal { + +/////////////////////////////////////////////////////////////////////////////// +// DecodedStream + +template +class DecodedStream { + public: + DecodedStream(SourceStream &ss) : ss_(ss), codepoint_() { Decode(); } + unsigned Peek() { return codepoint_; } + unsigned Take() { + unsigned c = codepoint_; + if (c) // No further decoding when '\0' + Decode(); + return c; + } + + private: + void Decode() { + if (!Encoding::Decode(ss_, &codepoint_)) codepoint_ = 0; + } + + SourceStream &ss_; + unsigned codepoint_; +}; + +/////////////////////////////////////////////////////////////////////////////// +// GenericRegex + +static const SizeType kRegexInvalidState = ~SizeType( + 0); //!< Represents an invalid index in GenericRegex::State::out, out1 +static const SizeType kRegexInvalidRange = ~SizeType(0); + +template +class GenericRegexSearch; + +//! Regular expression engine with subset of ECMAscript grammar. +/*! + Supported regular expression syntax: + - \c ab Concatenation + - \c a|b Alternation + - \c a? Zero or one + - \c a* Zero or more + - \c a+ One or more + - \c a{3} Exactly 3 times + - \c a{3,} At least 3 times + - \c a{3,5} 3 to 5 times + - \c (ab) Grouping + - \c ^a At the beginning + - \c a$ At the end + - \c . Any character + - \c [abc] Character classes + - \c [a-c] Character class range + - \c [a-z0-9_] Character class combination + - \c [^abc] Negated character classes + - \c [^a-c] Negated character class range + - \c [\b] Backspace (U+0008) + - \c \\| \\\\ ... Escape characters + - \c \\f Form feed (U+000C) + - \c \\n Line feed (U+000A) + - \c \\r Carriage return (U+000D) + - \c \\t Tab (U+0009) + - \c \\v Vertical tab (U+000B) + + \note This is a Thompson NFA engine, implemented with reference to + Cox, Russ. "Regular Expression Matching Can Be Simple And Fast (but is + slow in Java, Perl, PHP, Python, Ruby,...).", + https://swtch.com/~rsc/regexp/regexp1.html +*/ +template +class GenericRegex { + public: + typedef Encoding EncodingType; + typedef typename Encoding::Ch Ch; + template + friend class GenericRegexSearch; + + GenericRegex(const Ch *source, Allocator *allocator = 0) + : ownAllocator_(allocator ? 0 : RAPIDJSON_NEW(Allocator)()), + allocator_(allocator ? allocator : ownAllocator_), + states_(allocator_, 256), + ranges_(allocator_, 256), + root_(kRegexInvalidState), + stateCount_(), + rangeCount_(), + anchorBegin_(), + anchorEnd_() { + GenericStringStream ss(source); + DecodedStream, Encoding> ds(ss); + Parse(ds); + } + + ~GenericRegex() { RAPIDJSON_DELETE(ownAllocator_); } + + bool IsValid() const { return root_ != kRegexInvalidState; } + + private: + enum Operator { + kZeroOrOne, + kZeroOrMore, + kOneOrMore, + kConcatenation, + kAlternation, + kLeftParenthesis + }; + + static const unsigned kAnyCharacterClass = 0xFFFFFFFF; //!< For '.' + static const unsigned kRangeCharacterClass = 0xFFFFFFFE; + static const unsigned kRangeNegationFlag = 0x80000000; + + struct Range { + unsigned start; // + unsigned end; + SizeType next; + }; + + struct State { + SizeType out; //!< Equals to kInvalid for matching state + SizeType out1; //!< Equals to non-kInvalid for split + SizeType rangeStart; + unsigned codepoint; + }; + + struct Frag { + Frag(SizeType s, SizeType o, SizeType m) : start(s), out(o), minIndex(m) {} + SizeType start; + SizeType out; //!< link-list of all output states + SizeType minIndex; + }; + + State &GetState(SizeType index) { + RAPIDJSON_ASSERT(index < stateCount_); + return states_.template Bottom()[index]; + } + + const State &GetState(SizeType index) const { + RAPIDJSON_ASSERT(index < stateCount_); + return states_.template Bottom()[index]; + } + + Range &GetRange(SizeType index) { + RAPIDJSON_ASSERT(index < rangeCount_); + return ranges_.template Bottom()[index]; + } + + const Range &GetRange(SizeType index) const { + RAPIDJSON_ASSERT(index < rangeCount_); + return ranges_.template Bottom()[index]; + } + + template + void Parse(DecodedStream &ds) { + Stack operandStack(allocator_, 256); // Frag + Stack operatorStack(allocator_, 256); // Operator + Stack atomCountStack(allocator_, + 256); // unsigned (Atom per parenthesis) + + *atomCountStack.template Push() = 0; + + unsigned codepoint; + while (ds.Peek() != 0) { + switch (codepoint = ds.Take()) { + case '^': + anchorBegin_ = true; + break; + + case '$': + anchorEnd_ = true; + break; + + case '|': + while (!operatorStack.Empty() && + *operatorStack.template Top() < kAlternation) + if (!Eval(operandStack, *operatorStack.template Pop(1))) + return; + *operatorStack.template Push() = kAlternation; + *atomCountStack.template Top() = 0; + break; + + case '(': + *operatorStack.template Push() = kLeftParenthesis; + *atomCountStack.template Push() = 0; + break; + + case ')': + while (!operatorStack.Empty() && + *operatorStack.template Top() != kLeftParenthesis) + if (!Eval(operandStack, *operatorStack.template Pop(1))) + return; + if (operatorStack.Empty()) return; + operatorStack.template Pop(1); + atomCountStack.template Pop(1); + ImplicitConcatenation(atomCountStack, operatorStack); + break; + + case '?': + if (!Eval(operandStack, kZeroOrOne)) return; + break; + + case '*': + if (!Eval(operandStack, kZeroOrMore)) return; + break; + + case '+': + if (!Eval(operandStack, kOneOrMore)) return; + break; + + case '{': { + unsigned n, m; + if (!ParseUnsigned(ds, &n)) return; + + if (ds.Peek() == ',') { + ds.Take(); + if (ds.Peek() == '}') + m = kInfinityQuantifier; + else if (!ParseUnsigned(ds, &m) || m < n) + return; + } else + m = n; + + if (!EvalQuantifier(operandStack, n, m) || ds.Peek() != '}') return; + ds.Take(); + } break; + + case '.': + PushOperand(operandStack, kAnyCharacterClass); + ImplicitConcatenation(atomCountStack, operatorStack); + break; + + case '[': { + SizeType range; + if (!ParseRange(ds, &range)) return; + SizeType s = NewState(kRegexInvalidState, kRegexInvalidState, + kRangeCharacterClass); + GetState(s).rangeStart = range; + *operandStack.template Push() = Frag(s, s, s); + } + ImplicitConcatenation(atomCountStack, operatorStack); + break; + + case '\\': // Escape character + if (!CharacterEscape(ds, &codepoint)) + return; // Unsupported escape character + // fall through to default + RAPIDJSON_DELIBERATE_FALLTHROUGH; + + default: // Pattern character + PushOperand(operandStack, codepoint); + ImplicitConcatenation(atomCountStack, operatorStack); + } + } + + while (!operatorStack.Empty()) + if (!Eval(operandStack, *operatorStack.template Pop(1))) return; + + // Link the operand to matching state. + if (operandStack.GetSize() == sizeof(Frag)) { + Frag *e = operandStack.template Pop(1); + Patch(e->out, NewState(kRegexInvalidState, kRegexInvalidState, 0)); + root_ = e->start; + +#if RAPIDJSON_REGEX_VERBOSE + printf("root: %d\n", root_); + for (SizeType i = 0; i < stateCount_; i++) { + State &s = GetState(i); + printf("[%2d] out: %2d out1: %2d c: '%c'\n", i, s.out, s.out1, + (char)s.codepoint); + } + printf("\n"); +#endif + } + } + + SizeType NewState(SizeType out, SizeType out1, unsigned codepoint) { + State *s = states_.template Push(); + s->out = out; + s->out1 = out1; + s->codepoint = codepoint; + s->rangeStart = kRegexInvalidRange; + return stateCount_++; + } + + void PushOperand(Stack &operandStack, unsigned codepoint) { + SizeType s = NewState(kRegexInvalidState, kRegexInvalidState, codepoint); + *operandStack.template Push() = Frag(s, s, s); + } + + void ImplicitConcatenation(Stack &atomCountStack, + Stack &operatorStack) { + if (*atomCountStack.template Top()) + *operatorStack.template Push() = kConcatenation; + (*atomCountStack.template Top())++; + } + + SizeType Append(SizeType l1, SizeType l2) { + SizeType old = l1; + while (GetState(l1).out != kRegexInvalidState) l1 = GetState(l1).out; + GetState(l1).out = l2; + return old; + } + + void Patch(SizeType l, SizeType s) { + for (SizeType next; l != kRegexInvalidState; l = next) { + next = GetState(l).out; + GetState(l).out = s; + } + } + + bool Eval(Stack &operandStack, Operator op) { + switch (op) { + case kConcatenation: + RAPIDJSON_ASSERT(operandStack.GetSize() >= sizeof(Frag) * 2); + { + Frag e2 = *operandStack.template Pop(1); + Frag e1 = *operandStack.template Pop(1); + Patch(e1.out, e2.start); + *operandStack.template Push() = + Frag(e1.start, e2.out, Min(e1.minIndex, e2.minIndex)); + } + return true; + + case kAlternation: + if (operandStack.GetSize() >= sizeof(Frag) * 2) { + Frag e2 = *operandStack.template Pop(1); + Frag e1 = *operandStack.template Pop(1); + SizeType s = NewState(e1.start, e2.start, 0); + *operandStack.template Push() = + Frag(s, Append(e1.out, e2.out), Min(e1.minIndex, e2.minIndex)); + return true; + } + return false; + + case kZeroOrOne: + if (operandStack.GetSize() >= sizeof(Frag)) { + Frag e = *operandStack.template Pop(1); + SizeType s = NewState(kRegexInvalidState, e.start, 0); + *operandStack.template Push() = + Frag(s, Append(e.out, s), e.minIndex); + return true; + } + return false; + + case kZeroOrMore: + if (operandStack.GetSize() >= sizeof(Frag)) { + Frag e = *operandStack.template Pop(1); + SizeType s = NewState(kRegexInvalidState, e.start, 0); + Patch(e.out, s); + *operandStack.template Push() = Frag(s, s, e.minIndex); + return true; + } + return false; + + case kOneOrMore: + if (operandStack.GetSize() >= sizeof(Frag)) { + Frag e = *operandStack.template Pop(1); + SizeType s = NewState(kRegexInvalidState, e.start, 0); + Patch(e.out, s); + *operandStack.template Push() = Frag(e.start, s, e.minIndex); + return true; + } + return false; + + default: + // syntax error (e.g. unclosed kLeftParenthesis) + return false; + } + } + + bool EvalQuantifier(Stack &operandStack, unsigned n, unsigned m) { + RAPIDJSON_ASSERT(n <= m); + RAPIDJSON_ASSERT(operandStack.GetSize() >= sizeof(Frag)); + + if (n == 0) { + if (m == 0) // a{0} not support + return false; + else if (m == kInfinityQuantifier) + Eval(operandStack, kZeroOrMore); // a{0,} -> a* + else { + Eval(operandStack, kZeroOrOne); // a{0,5} -> a? + for (unsigned i = 0; i < m - 1; i++) + CloneTopOperand(operandStack); // a{0,5} -> a? a? a? a? a? + for (unsigned i = 0; i < m - 1; i++) + Eval(operandStack, kConcatenation); // a{0,5} -> a?a?a?a?a? + } + return true; + } + + for (unsigned i = 0; i < n - 1; i++) // a{3} -> a a a + CloneTopOperand(operandStack); + + if (m == kInfinityQuantifier) + Eval(operandStack, kOneOrMore); // a{3,} -> a a a+ + else if (m > n) { + CloneTopOperand(operandStack); // a{3,5} -> a a a a + Eval(operandStack, kZeroOrOne); // a{3,5} -> a a a a? + for (unsigned i = n; i < m - 1; i++) + CloneTopOperand(operandStack); // a{3,5} -> a a a a? a? + for (unsigned i = n; i < m; i++) + Eval(operandStack, kConcatenation); // a{3,5} -> a a aa?a? + } + + for (unsigned i = 0; i < n - 1; i++) + Eval(operandStack, + kConcatenation); // a{3} -> aaa, a{3,} -> aaa+, a{3.5} -> aaaa?a? + + return true; + } + + static SizeType Min(SizeType a, SizeType b) { return a < b ? a : b; } + + void CloneTopOperand(Stack &operandStack) { + const Frag src = + *operandStack + .template Top(); // Copy constructor to prevent invalidation + SizeType count = + stateCount_ - src.minIndex; // Assumes top operand contains states in + // [src->minIndex, stateCount_) + State *s = states_.template Push(count); + memcpy(s, &GetState(src.minIndex), count * sizeof(State)); + for (SizeType j = 0; j < count; j++) { + if (s[j].out != kRegexInvalidState) s[j].out += count; + if (s[j].out1 != kRegexInvalidState) s[j].out1 += count; + } + *operandStack.template Push() = + Frag(src.start + count, src.out + count, src.minIndex + count); + stateCount_ += count; + } + + template + bool ParseUnsigned(DecodedStream &ds, unsigned *u) { + unsigned r = 0; + if (ds.Peek() < '0' || ds.Peek() > '9') return false; + while (ds.Peek() >= '0' && ds.Peek() <= '9') { + if (r >= 429496729 && ds.Peek() > '5') // 2^32 - 1 = 4294967295 + return false; // overflow + r = r * 10 + (ds.Take() - '0'); + } + *u = r; + return true; + } + + template + bool ParseRange(DecodedStream &ds, SizeType *range) { + bool isBegin = true; + bool negate = false; + int step = 0; + SizeType start = kRegexInvalidRange; + SizeType current = kRegexInvalidRange; + unsigned codepoint; + while ((codepoint = ds.Take()) != 0) { + if (isBegin) { + isBegin = false; + if (codepoint == '^') { + negate = true; + continue; + } + } + + switch (codepoint) { + case ']': + if (start == kRegexInvalidRange) + return false; // Error: nothing inside [] + if (step == 2) { // Add trailing '-' + SizeType r = NewRange('-'); + RAPIDJSON_ASSERT(current != kRegexInvalidRange); + GetRange(current).next = r; + } + if (negate) GetRange(start).start |= kRangeNegationFlag; + *range = start; + return true; + + case '\\': + if (ds.Peek() == 'b') { + ds.Take(); + codepoint = 0x0008; // Escape backspace character + } else if (!CharacterEscape(ds, &codepoint)) + return false; + // fall through to default + RAPIDJSON_DELIBERATE_FALLTHROUGH; + + default: + switch (step) { + case 1: + if (codepoint == '-') { + step++; + break; + } + // fall through to step 0 for other characters + RAPIDJSON_DELIBERATE_FALLTHROUGH; + + case 0: { + SizeType r = NewRange(codepoint); + if (current != kRegexInvalidRange) GetRange(current).next = r; + if (start == kRegexInvalidRange) start = r; + current = r; + } + step = 1; + break; + + default: + RAPIDJSON_ASSERT(step == 2); + GetRange(current).end = codepoint; + step = 0; + } + } + } + return false; + } + + SizeType NewRange(unsigned codepoint) { + Range *r = ranges_.template Push(); + r->start = r->end = codepoint; + r->next = kRegexInvalidRange; + return rangeCount_++; + } + + template + bool CharacterEscape(DecodedStream &ds, + unsigned *escapedCodepoint) { + unsigned codepoint; + switch (codepoint = ds.Take()) { + case '^': + case '$': + case '|': + case '(': + case ')': + case '?': + case '*': + case '+': + case '.': + case '[': + case ']': + case '{': + case '}': + case '\\': + *escapedCodepoint = codepoint; + return true; + case 'f': + *escapedCodepoint = 0x000C; + return true; + case 'n': + *escapedCodepoint = 0x000A; + return true; + case 'r': + *escapedCodepoint = 0x000D; + return true; + case 't': + *escapedCodepoint = 0x0009; + return true; + case 'v': + *escapedCodepoint = 0x000B; + return true; + default: + return false; // Unsupported escape character + } + } + + Allocator *ownAllocator_; + Allocator *allocator_; + Stack states_; + Stack ranges_; + SizeType root_; + SizeType stateCount_; + SizeType rangeCount_; + + static const unsigned kInfinityQuantifier = ~0u; + + // For SearchWithAnchoring() + bool anchorBegin_; + bool anchorEnd_; +}; + +template +class GenericRegexSearch { + public: + typedef typename RegexType::EncodingType Encoding; + typedef typename Encoding::Ch Ch; + + GenericRegexSearch(const RegexType ®ex, Allocator *allocator = 0) + : regex_(regex), + allocator_(allocator), + ownAllocator_(0), + state0_(allocator, 0), + state1_(allocator, 0), + stateSet_() { + RAPIDJSON_ASSERT(regex_.IsValid()); + if (!allocator_) ownAllocator_ = allocator_ = RAPIDJSON_NEW(Allocator)(); + stateSet_ = static_cast(allocator_->Malloc(GetStateSetSize())); + state0_.template Reserve(regex_.stateCount_); + state1_.template Reserve(regex_.stateCount_); + } + + ~GenericRegexSearch() { + Allocator::Free(stateSet_); + RAPIDJSON_DELETE(ownAllocator_); + } + + template + bool Match(InputStream &is) { + return SearchWithAnchoring(is, true, true); + } + + bool Match(const Ch *s) { + GenericStringStream is(s); + return Match(is); + } + + template + bool Search(InputStream &is) { + return SearchWithAnchoring(is, regex_.anchorBegin_, regex_.anchorEnd_); + } + + bool Search(const Ch *s) { + GenericStringStream is(s); + return Search(is); + } + + private: + typedef typename RegexType::State State; + typedef typename RegexType::Range Range; + + template + bool SearchWithAnchoring(InputStream &is, bool anchorBegin, bool anchorEnd) { + DecodedStream ds(is); + + state0_.Clear(); + Stack *current = &state0_, *next = &state1_; + const size_t stateSetSize = GetStateSetSize(); + std::memset(stateSet_, 0, stateSetSize); + + bool matched = AddState(*current, regex_.root_); + unsigned codepoint; + while (!current->Empty() && (codepoint = ds.Take()) != 0) { + std::memset(stateSet_, 0, stateSetSize); + next->Clear(); + matched = false; + for (const SizeType *s = current->template Bottom(); + s != current->template End(); ++s) { + const State &sr = regex_.GetState(*s); + if (sr.codepoint == codepoint || + sr.codepoint == RegexType::kAnyCharacterClass || + (sr.codepoint == RegexType::kRangeCharacterClass && + MatchRange(sr.rangeStart, codepoint))) { + matched = AddState(*next, sr.out) || matched; + if (!anchorEnd && matched) return true; + } + if (!anchorBegin) AddState(*next, regex_.root_); + } + internal::Swap(current, next); + } + + return matched; + } + + size_t GetStateSetSize() const { return (regex_.stateCount_ + 31) / 32 * 4; } + + // Return whether the added states is a match state + bool AddState(Stack &l, SizeType index) { + RAPIDJSON_ASSERT(index != kRegexInvalidState); + + const State &s = regex_.GetState(index); + if (s.out1 != kRegexInvalidState) { // Split + bool matched = AddState(l, s.out); + return AddState(l, s.out1) || matched; + } else if (!(stateSet_[index >> 5] & (1u << (index & 31)))) { + stateSet_[index >> 5] |= (1u << (index & 31)); + *l.template PushUnsafe() = index; + } + return s.out == + kRegexInvalidState; // by using PushUnsafe() above, we can ensure s + // is not validated due to reallocation. + } + + bool MatchRange(SizeType rangeIndex, unsigned codepoint) const { + bool yes = (regex_.GetRange(rangeIndex).start & + RegexType::kRangeNegationFlag) == 0; + while (rangeIndex != kRegexInvalidRange) { + const Range &r = regex_.GetRange(rangeIndex); + if (codepoint >= (r.start & ~RegexType::kRangeNegationFlag) && + codepoint <= r.end) + return yes; + rangeIndex = r.next; + } + return !yes; + } + + const RegexType ®ex_; + Allocator *allocator_; + Allocator *ownAllocator_; + Stack state0_; + Stack state1_; + uint32_t *stateSet_; +}; + +typedef GenericRegex> Regex; +typedef GenericRegexSearch RegexSearch; + +} // namespace internal +RAPIDJSON_NAMESPACE_END + +#ifdef __GNUC__ +RAPIDJSON_DIAG_POP +#endif + +#if defined(__clang__) || defined(_MSC_VER) +RAPIDJSON_DIAG_POP +#endif + +#endif // RAPIDJSON_INTERNAL_REGEX_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/stack.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/stack.h new file mode 100644 index 0000000..bf80503 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/stack.h @@ -0,0 +1,245 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_INTERNAL_STACK_H_ +#define RAPIDJSON_INTERNAL_STACK_H_ + +#include +#include "../allocators.h" +#include "swap.h" + +#if defined(__clang__) +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(c++ 98 - compat) +#endif + +RAPIDJSON_NAMESPACE_BEGIN +namespace internal { + +/////////////////////////////////////////////////////////////////////////////// +// Stack + +//! A type-unsafe stack for storing different types of data. +/*! \tparam Allocator Allocator for allocating stack memory. + */ +template +class Stack { + public: + // Optimization note: Do not allocate memory for stack_ in constructor. + // Do it lazily when first Push() -> Expand() -> Resize(). + Stack(Allocator *allocator, size_t stackCapacity) + : allocator_(allocator), + ownAllocator_(0), + stack_(0), + stackTop_(0), + stackEnd_(0), + initialCapacity_(stackCapacity) {} + +#if RAPIDJSON_HAS_CXX11_RVALUE_REFS + Stack(Stack &&rhs) + : allocator_(rhs.allocator_), + ownAllocator_(rhs.ownAllocator_), + stack_(rhs.stack_), + stackTop_(rhs.stackTop_), + stackEnd_(rhs.stackEnd_), + initialCapacity_(rhs.initialCapacity_) { + rhs.allocator_ = 0; + rhs.ownAllocator_ = 0; + rhs.stack_ = 0; + rhs.stackTop_ = 0; + rhs.stackEnd_ = 0; + rhs.initialCapacity_ = 0; + } +#endif + + ~Stack() { Destroy(); } + +#if RAPIDJSON_HAS_CXX11_RVALUE_REFS + Stack &operator=(Stack &&rhs) { + if (&rhs != this) { + Destroy(); + + allocator_ = rhs.allocator_; + ownAllocator_ = rhs.ownAllocator_; + stack_ = rhs.stack_; + stackTop_ = rhs.stackTop_; + stackEnd_ = rhs.stackEnd_; + initialCapacity_ = rhs.initialCapacity_; + + rhs.allocator_ = 0; + rhs.ownAllocator_ = 0; + rhs.stack_ = 0; + rhs.stackTop_ = 0; + rhs.stackEnd_ = 0; + rhs.initialCapacity_ = 0; + } + return *this; + } +#endif + + void Swap(Stack &rhs) RAPIDJSON_NOEXCEPT { + internal::Swap(allocator_, rhs.allocator_); + internal::Swap(ownAllocator_, rhs.ownAllocator_); + internal::Swap(stack_, rhs.stack_); + internal::Swap(stackTop_, rhs.stackTop_); + internal::Swap(stackEnd_, rhs.stackEnd_); + internal::Swap(initialCapacity_, rhs.initialCapacity_); + } + + void Clear() { stackTop_ = stack_; } + + void ShrinkToFit() { + if (Empty()) { + // If the stack is empty, completely deallocate the memory. + Allocator::Free(stack_); // NOLINT (+clang-analyzer-unix.Malloc) + stack_ = 0; + stackTop_ = 0; + stackEnd_ = 0; + } else + Resize(GetSize()); + } + + // Optimization note: try to minimize the size of this function for force + // inline. Expansion is run very infrequently, so it is moved to another + // (probably non-inline) function. + template + RAPIDJSON_FORCEINLINE void Reserve(size_t count = 1) { + // Expand the stack if needed + if (RAPIDJSON_UNLIKELY(static_cast(sizeof(T) * count) > + (stackEnd_ - stackTop_))) + Expand(count); + } + + template + RAPIDJSON_FORCEINLINE T *Push(size_t count = 1) { + Reserve(count); + return PushUnsafe(count); + } + + template + RAPIDJSON_FORCEINLINE T *PushUnsafe(size_t count = 1) { + RAPIDJSON_ASSERT(stackTop_); + RAPIDJSON_ASSERT(static_cast(sizeof(T) * count) <= + (stackEnd_ - stackTop_)); + T *ret = reinterpret_cast(stackTop_); + stackTop_ += sizeof(T) * count; + return ret; + } + + template + T *Pop(size_t count) { + RAPIDJSON_ASSERT(GetSize() >= count * sizeof(T)); + stackTop_ -= count * sizeof(T); + return reinterpret_cast(stackTop_); + } + + template + T *Top() { + RAPIDJSON_ASSERT(GetSize() >= sizeof(T)); + return reinterpret_cast(stackTop_ - sizeof(T)); + } + + template + const T *Top() const { + RAPIDJSON_ASSERT(GetSize() >= sizeof(T)); + return reinterpret_cast(stackTop_ - sizeof(T)); + } + + template + T *End() { + return reinterpret_cast(stackTop_); + } + + template + const T *End() const { + return reinterpret_cast(stackTop_); + } + + template + T *Bottom() { + return reinterpret_cast(stack_); + } + + template + const T *Bottom() const { + return reinterpret_cast(stack_); + } + + bool HasAllocator() const { return allocator_ != 0; } + + Allocator &GetAllocator() { + RAPIDJSON_ASSERT(allocator_); + return *allocator_; + } + + bool Empty() const { return stackTop_ == stack_; } + size_t GetSize() const { return static_cast(stackTop_ - stack_); } + size_t GetCapacity() const { return static_cast(stackEnd_ - stack_); } + + private: + template + void Expand(size_t count) { + // Only expand the capacity if the current stack exists. Otherwise just + // create a stack with initial capacity. + size_t newCapacity; + if (stack_ == 0) { + if (!allocator_) ownAllocator_ = allocator_ = RAPIDJSON_NEW(Allocator)(); + newCapacity = initialCapacity_; + } else { + newCapacity = GetCapacity(); + newCapacity += (newCapacity + 1) / 2; + } + size_t newSize = GetSize() + sizeof(T) * count; + if (newCapacity < newSize) newCapacity = newSize; + + Resize(newCapacity); + } + + void Resize(size_t newCapacity) { + const size_t size = GetSize(); // Backup the current size + stack_ = static_cast( + allocator_->Realloc(stack_, GetCapacity(), newCapacity)); + stackTop_ = stack_ + size; + stackEnd_ = stack_ + newCapacity; + } + + void Destroy() { + Allocator::Free(stack_); + RAPIDJSON_DELETE(ownAllocator_); // Only delete if it is owned by the stack + } + + // Prohibit copy constructor & assignment operator. + Stack(const Stack &); + Stack &operator=(const Stack &); + + Allocator *allocator_; + Allocator *ownAllocator_; + char *stack_; + char *stackTop_; + char *stackEnd_; + size_t initialCapacity_; +}; + +} // namespace internal +RAPIDJSON_NAMESPACE_END + +#if defined(__clang__) +RAPIDJSON_DIAG_POP +#endif + +#endif // RAPIDJSON_STACK_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/strfunc.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/strfunc.h new file mode 100644 index 0000000..9024b2f --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/strfunc.h @@ -0,0 +1,74 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_INTERNAL_STRFUNC_H_ +#define RAPIDJSON_INTERNAL_STRFUNC_H_ + +#include +#include "../stream.h" + +RAPIDJSON_NAMESPACE_BEGIN +namespace internal { + +//! Custom strlen() which works on different character types. +/*! \tparam Ch Character type (e.g. char, wchar_t, short) + \param s Null-terminated input string. + \return Number of characters in the string. + \note This has the same semantics as strlen(), the return value is not + number of Unicode codepoints. +*/ +template +inline SizeType StrLen(const Ch *s) { + RAPIDJSON_ASSERT(s != 0); + const Ch *p = s; + while (*p) ++p; + return SizeType(p - s); +} + +template <> +inline SizeType StrLen(const char *s) { + return SizeType(std::strlen(s)); +} + +template <> +inline SizeType StrLen(const wchar_t *s) { + return SizeType(std::wcslen(s)); +} + +//! Returns number of code points in a encoded string. +template +bool CountStringCodePoint(const typename Encoding::Ch *s, SizeType length, + SizeType *outCount) { + RAPIDJSON_ASSERT(s != 0); + RAPIDJSON_ASSERT(outCount != 0); + GenericStringStream is(s); + const typename Encoding::Ch *end = s + length; + SizeType count = 0; + while (is.src_ < end) { + unsigned codepoint; + if (!Encoding::Decode(is, &codepoint)) return false; + count++; + } + *outCount = count; + return true; +} + +} // namespace internal +RAPIDJSON_NAMESPACE_END + +#endif // RAPIDJSON_INTERNAL_STRFUNC_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/strtod.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/strtod.h new file mode 100644 index 0000000..ea7ae43 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/strtod.h @@ -0,0 +1,303 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_STRTOD_ +#define RAPIDJSON_STRTOD_ + +#include +#include +#include "biginteger.h" +#include "diyfp.h" +#include "ieee754.h" +#include "pow10.h" + +RAPIDJSON_NAMESPACE_BEGIN +namespace internal { + +inline double FastPath(double significand, int exp) { + if (exp < -308) + return 0.0; + else if (exp >= 0) + return significand * internal::Pow10(exp); + else + return significand / internal::Pow10(-exp); +} + +inline double StrtodNormalPrecision(double d, int p) { + if (p < -308) { + // Prevent expSum < -308, making Pow10(p) = 0 + d = FastPath(d, -308); + d = FastPath(d, p + 308); + } else + d = FastPath(d, p); + return d; +} + +template +inline T Min3(T a, T b, T c) { + T m = a; + if (m > b) m = b; + if (m > c) m = c; + return m; +} + +inline int CheckWithinHalfULP(double b, const BigInteger &d, int dExp) { + const Double db(b); + const uint64_t bInt = db.IntegerSignificand(); + const int bExp = db.IntegerExponent(); + const int hExp = bExp - 1; + + int dS_Exp2 = 0, dS_Exp5 = 0, bS_Exp2 = 0, bS_Exp5 = 0, hS_Exp2 = 0, + hS_Exp5 = 0; + + // Adjust for decimal exponent + if (dExp >= 0) { + dS_Exp2 += dExp; + dS_Exp5 += dExp; + } else { + bS_Exp2 -= dExp; + bS_Exp5 -= dExp; + hS_Exp2 -= dExp; + hS_Exp5 -= dExp; + } + + // Adjust for binary exponent + if (bExp >= 0) + bS_Exp2 += bExp; + else { + dS_Exp2 -= bExp; + hS_Exp2 -= bExp; + } + + // Adjust for half ulp exponent + if (hExp >= 0) + hS_Exp2 += hExp; + else { + dS_Exp2 -= hExp; + bS_Exp2 -= hExp; + } + + // Remove common power of two factor from all three scaled values + int common_Exp2 = Min3(dS_Exp2, bS_Exp2, hS_Exp2); + dS_Exp2 -= common_Exp2; + bS_Exp2 -= common_Exp2; + hS_Exp2 -= common_Exp2; + + BigInteger dS = d; + dS.MultiplyPow5(static_cast(dS_Exp5)) <<= + static_cast(dS_Exp2); + + BigInteger bS(bInt); + bS.MultiplyPow5(static_cast(bS_Exp5)) <<= + static_cast(bS_Exp2); + + BigInteger hS(1); + hS.MultiplyPow5(static_cast(hS_Exp5)) <<= + static_cast(hS_Exp2); + + BigInteger delta(0); + dS.Difference(bS, &delta); + + return delta.Compare(hS); +} + +inline bool StrtodFast(double d, int p, double *result) { + // Use fast path for string-to-double conversion if possible + // see + // http://www.exploringbinary.com/fast-path-decimal-to-floating-point-conversion/ + if (p > 22 && p < 22 + 16) { + // Fast Path Cases In Disguise + d *= internal::Pow10(p - 22); + p = 22; + } + + if (p >= -22 && p <= 22 && d <= 9007199254740991.0) { // 2^53 - 1 + *result = FastPath(d, p); + return true; + } else + return false; +} + +// Compute an approximation and see if it is within 1/2 ULP +inline bool StrtodDiyFp(const char *decimals, int dLen, int dExp, + double *result) { + uint64_t significand = 0; + int i = 0; // 2^64 - 1 = 18446744073709551615, 1844674407370955161 = + // 0x1999999999999999 + for (; i < dLen; i++) { + if (significand > RAPIDJSON_UINT64_C2(0x19999999, 0x99999999) || + (significand == RAPIDJSON_UINT64_C2(0x19999999, 0x99999999) && + decimals[i] > '5')) + break; + significand = significand * 10u + static_cast(decimals[i] - '0'); + } + + if (i < dLen && decimals[i] >= '5') // Rounding + significand++; + + int remaining = dLen - i; + const int kUlpShift = 3; + const int kUlp = 1 << kUlpShift; + int64_t error = (remaining == 0) ? 0 : kUlp / 2; + + DiyFp v(significand, 0); + v = v.Normalize(); + error <<= -v.e; + + dExp += remaining; + + int actualExp; + DiyFp cachedPower = GetCachedPower10(dExp, &actualExp); + if (actualExp != dExp) { + static const DiyFp kPow10[] = { + DiyFp(RAPIDJSON_UINT64_C2(0xa0000000, 0x00000000), -60), // 10^1 + DiyFp(RAPIDJSON_UINT64_C2(0xc8000000, 0x00000000), -57), // 10^2 + DiyFp(RAPIDJSON_UINT64_C2(0xfa000000, 0x00000000), -54), // 10^3 + DiyFp(RAPIDJSON_UINT64_C2(0x9c400000, 0x00000000), -50), // 10^4 + DiyFp(RAPIDJSON_UINT64_C2(0xc3500000, 0x00000000), -47), // 10^5 + DiyFp(RAPIDJSON_UINT64_C2(0xf4240000, 0x00000000), -44), // 10^6 + DiyFp(RAPIDJSON_UINT64_C2(0x98968000, 0x00000000), -40) // 10^7 + }; + int adjustment = dExp - actualExp; + RAPIDJSON_ASSERT(adjustment >= 1 && adjustment < 8); + v = v * kPow10[adjustment - 1]; + if (dLen + adjustment > + 19) // has more digits than decimal digits in 64-bit + error += kUlp / 2; + } + + v = v * cachedPower; + + error += kUlp + (error == 0 ? 0 : 1); + + const int oldExp = v.e; + v = v.Normalize(); + error <<= oldExp - v.e; + + const int effectiveSignificandSize = + Double::EffectiveSignificandSize(64 + v.e); + int precisionSize = 64 - effectiveSignificandSize; + if (precisionSize + kUlpShift >= 64) { + int scaleExp = (precisionSize + kUlpShift) - 63; + v.f >>= scaleExp; + v.e += scaleExp; + error = (error >> scaleExp) + 1 + kUlp; + precisionSize -= scaleExp; + } + + DiyFp rounded(v.f >> precisionSize, v.e + precisionSize); + const uint64_t precisionBits = + (v.f & ((uint64_t(1) << precisionSize) - 1)) * kUlp; + const uint64_t halfWay = (uint64_t(1) << (precisionSize - 1)) * kUlp; + if (precisionBits >= halfWay + static_cast(error)) { + rounded.f++; + if (rounded.f & (DiyFp::kDpHiddenBit + << 1)) { // rounding overflows mantissa (issue #340) + rounded.f >>= 1; + rounded.e++; + } + } + + *result = rounded.ToDouble(); + + return halfWay - static_cast(error) >= precisionBits || + precisionBits >= halfWay + static_cast(error); +} + +inline double StrtodBigInteger(double approx, const char *decimals, int dLen, + int dExp) { + RAPIDJSON_ASSERT(dLen >= 0); + const BigInteger dInt(decimals, static_cast(dLen)); + Double a(approx); + int cmp = CheckWithinHalfULP(a.Value(), dInt, dExp); + if (cmp < 0) + return a.Value(); // within half ULP + else if (cmp == 0) { + // Round towards even + if (a.Significand() & 1) + return a.NextPositiveDouble(); + else + return a.Value(); + } else // adjustment + return a.NextPositiveDouble(); +} + +inline double StrtodFullPrecision(double d, int p, const char *decimals, + size_t length, size_t decimalPosition, + int exp) { + RAPIDJSON_ASSERT(d >= 0.0); + RAPIDJSON_ASSERT(length >= 1); + + double result = 0.0; + if (StrtodFast(d, p, &result)) return result; + + RAPIDJSON_ASSERT(length <= INT_MAX); + int dLen = static_cast(length); + + RAPIDJSON_ASSERT(length >= decimalPosition); + RAPIDJSON_ASSERT(length - decimalPosition <= INT_MAX); + int dExpAdjust = static_cast(length - decimalPosition); + + RAPIDJSON_ASSERT(exp >= INT_MIN + dExpAdjust); + int dExp = exp - dExpAdjust; + + // Make sure length+dExp does not overflow + RAPIDJSON_ASSERT(dExp <= INT_MAX - dLen); + + // Trim leading zeros + while (dLen > 0 && *decimals == '0') { + dLen--; + decimals++; + } + + // Trim trailing zeros + while (dLen > 0 && decimals[dLen - 1] == '0') { + dLen--; + dExp++; + } + + if (dLen == 0) { // Buffer only contains zeros. + return 0.0; + } + + // Trim right-most digits + const int kMaxDecimalDigit = 767 + 1; + if (dLen > kMaxDecimalDigit) { + dExp += dLen - kMaxDecimalDigit; + dLen = kMaxDecimalDigit; + } + + // If too small, underflow to zero. + // Any x <= 10^-324 is interpreted as zero. + if (dLen + dExp <= -324) return 0.0; + + // If too large, overflow to infinity. + // Any x >= 10^309 is interpreted as +infinity. + if (dLen + dExp > 309) return std::numeric_limits::infinity(); + + if (StrtodDiyFp(decimals, dLen, dExp, &result)) return result; + + // Use approximation from StrtodDiyFp and make adjustment with BigInteger + // comparison + return StrtodBigInteger(result, decimals, dLen, dExp); +} + +} // namespace internal +RAPIDJSON_NAMESPACE_END + +#endif // RAPIDJSON_STRTOD_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/swap.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/swap.h new file mode 100644 index 0000000..db41b18 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/internal/swap.h @@ -0,0 +1,50 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_INTERNAL_SWAP_H_ +#define RAPIDJSON_INTERNAL_SWAP_H_ + +#include "../rapidjson.h" + +#if defined(__clang__) +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(c++ 98 - compat) +#endif + +RAPIDJSON_NAMESPACE_BEGIN +namespace internal { + +//! Custom swap() to avoid dependency on C++ header +/*! \tparam T Type of the arguments to swap, should be instantiated with + primitive C++ types only. \note This has the same semantics as std::swap(). +*/ +template +inline void Swap(T &a, T &b) RAPIDJSON_NOEXCEPT { + T tmp = a; + a = b; + b = tmp; +} + +} // namespace internal +RAPIDJSON_NAMESPACE_END + +#if defined(__clang__) +RAPIDJSON_DIAG_POP +#endif + +#endif // RAPIDJSON_INTERNAL_SWAP_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/istreamwrapper.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/istreamwrapper.h new file mode 100644 index 0000000..b9663b0 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/istreamwrapper.h @@ -0,0 +1,161 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_ISTREAMWRAPPER_H_ +#define RAPIDJSON_ISTREAMWRAPPER_H_ + +#include +#include +#include "stream.h" + +#ifdef __clang__ +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(padded) +#elif defined(_MSC_VER) +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(4351) // new behavior: elements of array 'array' will be + // default initialized +#endif + +RAPIDJSON_NAMESPACE_BEGIN + +//! Wrapper of \c std::basic_istream into RapidJSON's Stream concept. +/*! + The classes can be wrapped including but not limited to: + + - \c std::istringstream + - \c std::stringstream + - \c std::wistringstream + - \c std::wstringstream + - \c std::ifstream + - \c std::fstream + - \c std::wifstream + - \c std::wfstream + + \tparam StreamType Class derived from \c std::basic_istream. +*/ + +template +class BasicIStreamWrapper { + public: + typedef typename StreamType::char_type Ch; + + //! Constructor. + /*! + \param stream stream opened for read. + */ + BasicIStreamWrapper(StreamType &stream) + : stream_(stream), + buffer_(peekBuffer_), + bufferSize_(4), + bufferLast_(0), + current_(buffer_), + readCount_(0), + count_(0), + eof_(false) { + Read(); + } + + //! Constructor. + /*! + \param stream stream opened for read. + \param buffer user-supplied buffer. + \param bufferSize size of buffer in bytes. Must >=4 bytes. + */ + BasicIStreamWrapper(StreamType &stream, char *buffer, size_t bufferSize) + : stream_(stream), + buffer_(buffer), + bufferSize_(bufferSize), + bufferLast_(0), + current_(buffer_), + readCount_(0), + count_(0), + eof_(false) { + RAPIDJSON_ASSERT(bufferSize >= 4); + Read(); + } + + Ch Peek() const { return *current_; } + Ch Take() { + Ch c = *current_; + Read(); + return c; + } + size_t Tell() const { + return count_ + static_cast(current_ - buffer_); + } + + // Not implemented + void Put(Ch) { RAPIDJSON_ASSERT(false); } + void Flush() { RAPIDJSON_ASSERT(false); } + Ch *PutBegin() { + RAPIDJSON_ASSERT(false); + return 0; + } + size_t PutEnd(Ch *) { + RAPIDJSON_ASSERT(false); + return 0; + } + + // For encoding detection only. + const Ch *Peek4() const { + return (current_ + 4 - !eof_ <= bufferLast_) ? current_ : 0; + } + + private: + BasicIStreamWrapper(); + BasicIStreamWrapper(const BasicIStreamWrapper &); + BasicIStreamWrapper &operator=(const BasicIStreamWrapper &); + + void Read() { + if (current_ < bufferLast_) + ++current_; + else if (!eof_) { + count_ += readCount_; + readCount_ = bufferSize_; + bufferLast_ = buffer_ + readCount_ - 1; + current_ = buffer_; + + if (!stream_.read(buffer_, static_cast(bufferSize_))) { + readCount_ = static_cast(stream_.gcount()); + *(bufferLast_ = buffer_ + readCount_) = '\0'; + eof_ = true; + } + } + } + + StreamType &stream_; + Ch peekBuffer_[4], *buffer_; + size_t bufferSize_; + Ch *bufferLast_; + Ch *current_; + size_t readCount_; + size_t count_; //!< Number of characters read + bool eof_; +}; + +typedef BasicIStreamWrapper IStreamWrapper; +typedef BasicIStreamWrapper WIStreamWrapper; + +#if defined(__clang__) || defined(_MSC_VER) +RAPIDJSON_DIAG_POP +#endif + +RAPIDJSON_NAMESPACE_END + +#endif // RAPIDJSON_ISTREAMWRAPPER_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/license.txt b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/license.txt new file mode 100644 index 0000000..7ccc161 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/license.txt @@ -0,0 +1,57 @@ +Tencent is pleased to support the open source community by making RapidJSON available. + +Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All rights reserved. + +If you have downloaded a copy of the RapidJSON binary from Tencent, please note that the RapidJSON binary is licensed under the MIT License. +If you have downloaded a copy of the RapidJSON source code from Tencent, please note that RapidJSON source code is licensed under the MIT License, except for the third-party components listed below which are subject to different license terms. Your integration of RapidJSON into your own projects may require compliance with the MIT License, as well as the other licenses applicable to the third-party components included within RapidJSON. To avoid the problematic JSON license in your own projects, it's sufficient to exclude the bin/jsonchecker/ directory, as it's the only code under the JSON license. +A copy of the MIT License is included in this file. + +Other dependencies and licenses: + +Open Source Software Licensed Under the BSD License: +-------------------------------------------------------------------- + +The msinttypes r29 +Copyright (c) 2006-2013 Alexander Chemeris +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + +* Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. +* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. +* Neither the name of copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS AND CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +Open Source Software Licensed Under the JSON License: +-------------------------------------------------------------------- + +json.org +Copyright (c) 2002 JSON.org +All Rights Reserved. + +JSON_checker +Copyright (c) 2002 JSON.org +All Rights Reserved. + + +Terms of the JSON License: +--------------------------------------------------- + +Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. + +The Software shall be used for Good, not Evil. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + +Terms of the MIT License: +-------------------------------------------------------------------- + +Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/memorybuffer.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/memorybuffer.h new file mode 100644 index 0000000..a827d6a --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/memorybuffer.h @@ -0,0 +1,78 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_MEMORYBUFFER_H_ +#define RAPIDJSON_MEMORYBUFFER_H_ + +#include "internal/stack.h" +#include "stream.h" + +RAPIDJSON_NAMESPACE_BEGIN + +//! Represents an in-memory output byte stream. +/*! + This class is mainly for being wrapped by EncodedOutputStream or + AutoUTFOutputStream. + + It is similar to FileWriteBuffer but the destination is an in-memory buffer + instead of a file. + + Differences between MemoryBuffer and StringBuffer: + 1. StringBuffer has Encoding but MemoryBuffer is only a byte buffer. + 2. StringBuffer::GetString() returns a null-terminated string. + MemoryBuffer::GetBuffer() returns a buffer without terminator. + + \tparam Allocator type for allocating memory buffer. + \note implements Stream concept +*/ +template +struct GenericMemoryBuffer { + typedef char Ch; // byte + + GenericMemoryBuffer(Allocator *allocator = 0, + size_t capacity = kDefaultCapacity) + : stack_(allocator, capacity) {} + + void Put(Ch c) { *stack_.template Push() = c; } + void Flush() {} + + void Clear() { stack_.Clear(); } + void ShrinkToFit() { stack_.ShrinkToFit(); } + Ch *Push(size_t count) { return stack_.template Push(count); } + void Pop(size_t count) { stack_.template Pop(count); } + + const Ch *GetBuffer() const { return stack_.template Bottom(); } + + size_t GetSize() const { return stack_.GetSize(); } + + static const size_t kDefaultCapacity = 256; + mutable internal::Stack stack_; +}; + +typedef GenericMemoryBuffer<> MemoryBuffer; + +//! Implement specialized version of PutN() with memset() for better +//! performance. +template <> +inline void PutN(MemoryBuffer &memoryBuffer, char c, size_t n) { + std::memset(memoryBuffer.stack_.Push(n), c, n * sizeof(c)); +} + +RAPIDJSON_NAMESPACE_END + +#endif // RAPIDJSON_MEMORYBUFFER_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/memorystream.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/memorystream.h new file mode 100644 index 0000000..f542ece --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/memorystream.h @@ -0,0 +1,84 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_MEMORYSTREAM_H_ +#define RAPIDJSON_MEMORYSTREAM_H_ + +#include "stream.h" + +#ifdef __clang__ +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(unreachable - code) +RAPIDJSON_DIAG_OFF(missing - noreturn) +#endif + +RAPIDJSON_NAMESPACE_BEGIN + +//! Represents an in-memory input byte stream. +/*! + This class is mainly for being wrapped by EncodedInputStream or + AutoUTFInputStream. + + It is similar to FileReadBuffer but the source is an in-memory buffer + instead of a file. + + Differences between MemoryStream and StringStream: + 1. StringStream has encoding but MemoryStream is a byte stream. + 2. MemoryStream needs size of the source buffer and the buffer don't need to + be null terminated. StringStream assume null-terminated string as source. + 3. MemoryStream supports Peek4() for encoding detection. StringStream is + specified with an encoding so it should not have Peek4(). \note implements + Stream concept +*/ +struct MemoryStream { + typedef char Ch; // byte + + MemoryStream(const Ch *src, size_t size) + : src_(src), begin_(src), end_(src + size), size_(size) {} + + Ch Peek() const { return RAPIDJSON_UNLIKELY(src_ == end_) ? '\0' : *src_; } + Ch Take() { return RAPIDJSON_UNLIKELY(src_ == end_) ? '\0' : *src_++; } + size_t Tell() const { return static_cast(src_ - begin_); } + + Ch *PutBegin() { + RAPIDJSON_ASSERT(false); + return 0; + } + void Put(Ch) { RAPIDJSON_ASSERT(false); } + void Flush() { RAPIDJSON_ASSERT(false); } + size_t PutEnd(Ch *) { + RAPIDJSON_ASSERT(false); + return 0; + } + + // For encoding detection only. + const Ch *Peek4() const { return Tell() + 4 <= size_ ? src_ : 0; } + + const Ch *src_; //!< Current read position. + const Ch *begin_; //!< Original head of the string. + const Ch *end_; //!< End of stream. + size_t size_; //!< Size of the stream. +}; + +RAPIDJSON_NAMESPACE_END + +#ifdef __clang__ +RAPIDJSON_DIAG_POP +#endif + +#endif // RAPIDJSON_MEMORYBUFFER_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/msinttypes/inttypes.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/msinttypes/inttypes.h new file mode 100644 index 0000000..bc32dad --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/msinttypes/inttypes.h @@ -0,0 +1,316 @@ +// ISO C9x compliant inttypes.h for Microsoft Visual Studio +// Based on ISO/IEC 9899:TC2 Committee draft (May 6, 2005) WG14/N1124 +// +// Copyright (c) 2006-2013 Alexander Chemeris +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// 1. Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// 2. Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// 3. Neither the name of the product nor the names of its contributors may +// be used to endorse or promote products derived from this software +// without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED +// WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF +// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO +// EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; +// OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, +// WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR +// OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF +// ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// +/////////////////////////////////////////////////////////////////////////////// + +// The above software in this distribution may have been modified by +// THL A29 Limited ("Tencent Modifications"). +// All Tencent Modifications are Copyright (C) 2015 THL A29 Limited. + +#ifndef _MSC_VER // [ +#error "Use this header only with Microsoft Visual C++ compilers!" +#endif // _MSC_VER ] + +#ifndef _MSC_INTTYPES_H_ // [ +#define _MSC_INTTYPES_H_ + +#if _MSC_VER > 1000 +#pragma once +#endif + +#include "stdint.h" + +// miloyip: VC supports inttypes.h since VC2013 +#if _MSC_VER >= 1800 +#include +#else + +// 7.8 Format conversion of integer types + +typedef struct { + intmax_t quot; + intmax_t rem; +} imaxdiv_t; + +// 7.8.1 Macros for format specifiers + +#if !defined(__cplusplus) || \ + defined(__STDC_FORMAT_MACROS) // [ See footnote 185 at page 198 + +// The fprintf macros for signed integers are: +#define PRId8 "d" +#define PRIi8 "i" +#define PRIdLEAST8 "d" +#define PRIiLEAST8 "i" +#define PRIdFAST8 "d" +#define PRIiFAST8 "i" + +#define PRId16 "hd" +#define PRIi16 "hi" +#define PRIdLEAST16 "hd" +#define PRIiLEAST16 "hi" +#define PRIdFAST16 "hd" +#define PRIiFAST16 "hi" + +#define PRId32 "I32d" +#define PRIi32 "I32i" +#define PRIdLEAST32 "I32d" +#define PRIiLEAST32 "I32i" +#define PRIdFAST32 "I32d" +#define PRIiFAST32 "I32i" + +#define PRId64 "I64d" +#define PRIi64 "I64i" +#define PRIdLEAST64 "I64d" +#define PRIiLEAST64 "I64i" +#define PRIdFAST64 "I64d" +#define PRIiFAST64 "I64i" + +#define PRIdMAX "I64d" +#define PRIiMAX "I64i" + +#define PRIdPTR "Id" +#define PRIiPTR "Ii" + +// The fprintf macros for unsigned integers are: +#define PRIo8 "o" +#define PRIu8 "u" +#define PRIx8 "x" +#define PRIX8 "X" +#define PRIoLEAST8 "o" +#define PRIuLEAST8 "u" +#define PRIxLEAST8 "x" +#define PRIXLEAST8 "X" +#define PRIoFAST8 "o" +#define PRIuFAST8 "u" +#define PRIxFAST8 "x" +#define PRIXFAST8 "X" + +#define PRIo16 "ho" +#define PRIu16 "hu" +#define PRIx16 "hx" +#define PRIX16 "hX" +#define PRIoLEAST16 "ho" +#define PRIuLEAST16 "hu" +#define PRIxLEAST16 "hx" +#define PRIXLEAST16 "hX" +#define PRIoFAST16 "ho" +#define PRIuFAST16 "hu" +#define PRIxFAST16 "hx" +#define PRIXFAST16 "hX" + +#define PRIo32 "I32o" +#define PRIu32 "I32u" +#define PRIx32 "I32x" +#define PRIX32 "I32X" +#define PRIoLEAST32 "I32o" +#define PRIuLEAST32 "I32u" +#define PRIxLEAST32 "I32x" +#define PRIXLEAST32 "I32X" +#define PRIoFAST32 "I32o" +#define PRIuFAST32 "I32u" +#define PRIxFAST32 "I32x" +#define PRIXFAST32 "I32X" + +#define PRIo64 "I64o" +#define PRIu64 "I64u" +#define PRIx64 "I64x" +#define PRIX64 "I64X" +#define PRIoLEAST64 "I64o" +#define PRIuLEAST64 "I64u" +#define PRIxLEAST64 "I64x" +#define PRIXLEAST64 "I64X" +#define PRIoFAST64 "I64o" +#define PRIuFAST64 "I64u" +#define PRIxFAST64 "I64x" +#define PRIXFAST64 "I64X" + +#define PRIoMAX "I64o" +#define PRIuMAX "I64u" +#define PRIxMAX "I64x" +#define PRIXMAX "I64X" + +#define PRIoPTR "Io" +#define PRIuPTR "Iu" +#define PRIxPTR "Ix" +#define PRIXPTR "IX" + +// The fscanf macros for signed integers are: +#define SCNd8 "d" +#define SCNi8 "i" +#define SCNdLEAST8 "d" +#define SCNiLEAST8 "i" +#define SCNdFAST8 "d" +#define SCNiFAST8 "i" + +#define SCNd16 "hd" +#define SCNi16 "hi" +#define SCNdLEAST16 "hd" +#define SCNiLEAST16 "hi" +#define SCNdFAST16 "hd" +#define SCNiFAST16 "hi" + +#define SCNd32 "ld" +#define SCNi32 "li" +#define SCNdLEAST32 "ld" +#define SCNiLEAST32 "li" +#define SCNdFAST32 "ld" +#define SCNiFAST32 "li" + +#define SCNd64 "I64d" +#define SCNi64 "I64i" +#define SCNdLEAST64 "I64d" +#define SCNiLEAST64 "I64i" +#define SCNdFAST64 "I64d" +#define SCNiFAST64 "I64i" + +#define SCNdMAX "I64d" +#define SCNiMAX "I64i" + +#ifdef _WIN64 // [ +#define SCNdPTR "I64d" +#define SCNiPTR "I64i" +#else // _WIN64 ][ +#define SCNdPTR "ld" +#define SCNiPTR "li" +#endif // _WIN64 ] + +// The fscanf macros for unsigned integers are: +#define SCNo8 "o" +#define SCNu8 "u" +#define SCNx8 "x" +#define SCNX8 "X" +#define SCNoLEAST8 "o" +#define SCNuLEAST8 "u" +#define SCNxLEAST8 "x" +#define SCNXLEAST8 "X" +#define SCNoFAST8 "o" +#define SCNuFAST8 "u" +#define SCNxFAST8 "x" +#define SCNXFAST8 "X" + +#define SCNo16 "ho" +#define SCNu16 "hu" +#define SCNx16 "hx" +#define SCNX16 "hX" +#define SCNoLEAST16 "ho" +#define SCNuLEAST16 "hu" +#define SCNxLEAST16 "hx" +#define SCNXLEAST16 "hX" +#define SCNoFAST16 "ho" +#define SCNuFAST16 "hu" +#define SCNxFAST16 "hx" +#define SCNXFAST16 "hX" + +#define SCNo32 "lo" +#define SCNu32 "lu" +#define SCNx32 "lx" +#define SCNX32 "lX" +#define SCNoLEAST32 "lo" +#define SCNuLEAST32 "lu" +#define SCNxLEAST32 "lx" +#define SCNXLEAST32 "lX" +#define SCNoFAST32 "lo" +#define SCNuFAST32 "lu" +#define SCNxFAST32 "lx" +#define SCNXFAST32 "lX" + +#define SCNo64 "I64o" +#define SCNu64 "I64u" +#define SCNx64 "I64x" +#define SCNX64 "I64X" +#define SCNoLEAST64 "I64o" +#define SCNuLEAST64 "I64u" +#define SCNxLEAST64 "I64x" +#define SCNXLEAST64 "I64X" +#define SCNoFAST64 "I64o" +#define SCNuFAST64 "I64u" +#define SCNxFAST64 "I64x" +#define SCNXFAST64 "I64X" + +#define SCNoMAX "I64o" +#define SCNuMAX "I64u" +#define SCNxMAX "I64x" +#define SCNXMAX "I64X" + +#ifdef _WIN64 // [ +#define SCNoPTR "I64o" +#define SCNuPTR "I64u" +#define SCNxPTR "I64x" +#define SCNXPTR "I64X" +#else // _WIN64 ][ +#define SCNoPTR "lo" +#define SCNuPTR "lu" +#define SCNxPTR "lx" +#define SCNXPTR "lX" +#endif // _WIN64 ] + +#endif // __STDC_FORMAT_MACROS ] + +// 7.8.2 Functions for greatest-width integer types + +// 7.8.2.1 The imaxabs function +#define imaxabs _abs64 + +// 7.8.2.2 The imaxdiv function + +// This is modified version of div() function from Microsoft's div.c found +// in %MSVC.NET%\crt\src\div.c +#ifdef STATIC_IMAXDIV // [ +static +#else // STATIC_IMAXDIV ][ +_inline +#endif // STATIC_IMAXDIV ] + imaxdiv_t __cdecl imaxdiv(intmax_t numer, intmax_t denom) { + imaxdiv_t result; + + result.quot = numer / denom; + result.rem = numer % denom; + + if (numer < 0 && result.rem > 0) { + // did division wrong; must fix up + ++result.quot; + result.rem -= denom; + } + + return result; +} + +// 7.8.2.3 The strtoimax and strtoumax functions +#define strtoimax _strtoi64 +#define strtoumax _strtoui64 + +// 7.8.2.4 The wcstoimax and wcstoumax functions +#define wcstoimax _wcstoi64 +#define wcstoumax _wcstoui64 + +#endif // _MSC_VER >= 1800 + +#endif // _MSC_INTTYPES_H_ ] diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/msinttypes/stdint.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/msinttypes/stdint.h new file mode 100644 index 0000000..8fd0655 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/msinttypes/stdint.h @@ -0,0 +1,301 @@ +// ISO C9x compliant stdint.h for Microsoft Visual Studio +// Based on ISO/IEC 9899:TC2 Committee draft (May 6, 2005) WG14/N1124 +// +// Copyright (c) 2006-2013 Alexander Chemeris +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// 1. Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// 2. Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// 3. Neither the name of the product nor the names of its contributors may +// be used to endorse or promote products derived from this software +// without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED +// WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF +// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO +// EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; +// OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, +// WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR +// OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF +// ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// +/////////////////////////////////////////////////////////////////////////////// + +// The above software in this distribution may have been modified by +// THL A29 Limited ("Tencent Modifications"). +// All Tencent Modifications are Copyright (C) 2015 THL A29 Limited. + +#ifndef _MSC_VER // [ +#error "Use this header only with Microsoft Visual C++ compilers!" +#endif // _MSC_VER ] + +#ifndef _MSC_STDINT_H_ // [ +#define _MSC_STDINT_H_ + +#if _MSC_VER > 1000 +#pragma once +#endif + +// miloyip: Originally Visual Studio 2010 uses its own stdint.h. However it +// generates warning with INT64_C(), so change to use this file for vs2010. +#if _MSC_VER >= 1600 // [ +#include + +#if !defined(__cplusplus) || \ + defined(__STDC_CONSTANT_MACROS) // [ See footnote 224 at page 260 + +#undef INT8_C +#undef INT16_C +#undef INT32_C +#undef INT64_C +#undef UINT8_C +#undef UINT16_C +#undef UINT32_C +#undef UINT64_C + +// 7.18.4.1 Macros for minimum-width integer constants + +#define INT8_C(val) val##i8 +#define INT16_C(val) val##i16 +#define INT32_C(val) val##i32 +#define INT64_C(val) val##i64 + +#define UINT8_C(val) val##ui8 +#define UINT16_C(val) val##ui16 +#define UINT32_C(val) val##ui32 +#define UINT64_C(val) val##ui64 + +// 7.18.4.2 Macros for greatest-width integer constants +// These #ifndef's are needed to prevent collisions with . +// Check out Issue 9 for the details. +#ifndef INTMAX_C // [ +#define INTMAX_C INT64_C +#endif // INTMAX_C ] +#ifndef UINTMAX_C // [ +#define UINTMAX_C UINT64_C +#endif // UINTMAX_C ] + +#endif // __STDC_CONSTANT_MACROS ] + +#else // ] _MSC_VER >= 1700 [ + +#include + +// For Visual Studio 6 in C++ mode and for many Visual Studio versions when +// compiling for ARM we have to wrap include with 'extern "C++" {}' +// or compiler would give many errors like this: +// error C2733: second C linkage of overloaded function 'wmemchr' not allowed +#if defined(__cplusplus) && !defined(_M_ARM) +extern "C" { +#endif +#include +#if defined(__cplusplus) && !defined(_M_ARM) +} +#endif + +// Define _W64 macros to mark types changing their size, like intptr_t. +#ifndef _W64 +#if !defined(__midl) && (defined(_X86_) || defined(_M_IX86)) && _MSC_VER >= 1300 +#define _W64 __w64 +#else +#define _W64 +#endif +#endif + +// 7.18.1 Integer types + +// 7.18.1.1 Exact-width integer types + +// Visual Studio 6 and Embedded Visual C++ 4 doesn't +// realize that, e.g. char has the same size as __int8 +// so we give up on __intX for them. +#if (_MSC_VER < 1300) +typedef signed char int8_t; +typedef signed short int16_t; +typedef signed int int32_t; +typedef unsigned char uint8_t; +typedef unsigned short uint16_t; +typedef unsigned int uint32_t; +#else +typedef signed __int8 int8_t; +typedef signed __int16 int16_t; +typedef signed __int32 int32_t; +typedef unsigned __int8 uint8_t; +typedef unsigned __int16 uint16_t; +typedef unsigned __int32 uint32_t; +#endif +typedef signed __int64 int64_t; +typedef unsigned __int64 uint64_t; + +// 7.18.1.2 Minimum-width integer types +typedef int8_t int_least8_t; +typedef int16_t int_least16_t; +typedef int32_t int_least32_t; +typedef int64_t int_least64_t; +typedef uint8_t uint_least8_t; +typedef uint16_t uint_least16_t; +typedef uint32_t uint_least32_t; +typedef uint64_t uint_least64_t; + +// 7.18.1.3 Fastest minimum-width integer types +typedef int8_t int_fast8_t; +typedef int16_t int_fast16_t; +typedef int32_t int_fast32_t; +typedef int64_t int_fast64_t; +typedef uint8_t uint_fast8_t; +typedef uint16_t uint_fast16_t; +typedef uint32_t uint_fast32_t; +typedef uint64_t uint_fast64_t; + +// 7.18.1.4 Integer types capable of holding object pointers +#ifdef _WIN64 // [ +typedef signed __int64 intptr_t; +typedef unsigned __int64 uintptr_t; +#else // _WIN64 ][ +typedef _W64 signed int intptr_t; +typedef _W64 unsigned int uintptr_t; +#endif // _WIN64 ] + +// 7.18.1.5 Greatest-width integer types +typedef int64_t intmax_t; +typedef uint64_t uintmax_t; + +// 7.18.2 Limits of specified-width integer types + +#if !defined(__cplusplus) || \ + defined(__STDC_LIMIT_MACROS) // [ See footnote 220 at page 257 and +// footnote 221 at page 259 + +// 7.18.2.1 Limits of exact-width integer types +#define INT8_MIN ((int8_t)_I8_MIN) +#define INT8_MAX _I8_MAX +#define INT16_MIN ((int16_t)_I16_MIN) +#define INT16_MAX _I16_MAX +#define INT32_MIN ((int32_t)_I32_MIN) +#define INT32_MAX _I32_MAX +#define INT64_MIN ((int64_t)_I64_MIN) +#define INT64_MAX _I64_MAX +#define UINT8_MAX _UI8_MAX +#define UINT16_MAX _UI16_MAX +#define UINT32_MAX _UI32_MAX +#define UINT64_MAX _UI64_MAX + +// 7.18.2.2 Limits of minimum-width integer types +#define INT_LEAST8_MIN INT8_MIN +#define INT_LEAST8_MAX INT8_MAX +#define INT_LEAST16_MIN INT16_MIN +#define INT_LEAST16_MAX INT16_MAX +#define INT_LEAST32_MIN INT32_MIN +#define INT_LEAST32_MAX INT32_MAX +#define INT_LEAST64_MIN INT64_MIN +#define INT_LEAST64_MAX INT64_MAX +#define UINT_LEAST8_MAX UINT8_MAX +#define UINT_LEAST16_MAX UINT16_MAX +#define UINT_LEAST32_MAX UINT32_MAX +#define UINT_LEAST64_MAX UINT64_MAX + +// 7.18.2.3 Limits of fastest minimum-width integer types +#define INT_FAST8_MIN INT8_MIN +#define INT_FAST8_MAX INT8_MAX +#define INT_FAST16_MIN INT16_MIN +#define INT_FAST16_MAX INT16_MAX +#define INT_FAST32_MIN INT32_MIN +#define INT_FAST32_MAX INT32_MAX +#define INT_FAST64_MIN INT64_MIN +#define INT_FAST64_MAX INT64_MAX +#define UINT_FAST8_MAX UINT8_MAX +#define UINT_FAST16_MAX UINT16_MAX +#define UINT_FAST32_MAX UINT32_MAX +#define UINT_FAST64_MAX UINT64_MAX + +// 7.18.2.4 Limits of integer types capable of holding object pointers +#ifdef _WIN64 // [ +#define INTPTR_MIN INT64_MIN +#define INTPTR_MAX INT64_MAX +#define UINTPTR_MAX UINT64_MAX +#else // _WIN64 ][ +#define INTPTR_MIN INT32_MIN +#define INTPTR_MAX INT32_MAX +#define UINTPTR_MAX UINT32_MAX +#endif // _WIN64 ] + +// 7.18.2.5 Limits of greatest-width integer types +#define INTMAX_MIN INT64_MIN +#define INTMAX_MAX INT64_MAX +#define UINTMAX_MAX UINT64_MAX + +// 7.18.3 Limits of other integer types + +#ifdef _WIN64 // [ +#define PTRDIFF_MIN _I64_MIN +#define PTRDIFF_MAX _I64_MAX +#else // _WIN64 ][ +#define PTRDIFF_MIN _I32_MIN +#define PTRDIFF_MAX _I32_MAX +#endif // _WIN64 ] + +#define SIG_ATOMIC_MIN INT_MIN +#define SIG_ATOMIC_MAX INT_MAX + +#ifndef SIZE_MAX // [ +#ifdef _WIN64 // [ +#define SIZE_MAX _UI64_MAX +#else // _WIN64 ][ +#define SIZE_MAX _UI32_MAX +#endif // _WIN64 ] +#endif // SIZE_MAX ] + +// WCHAR_MIN and WCHAR_MAX are also defined in +#ifndef WCHAR_MIN // [ +#define WCHAR_MIN 0 +#endif // WCHAR_MIN ] +#ifndef WCHAR_MAX // [ +#define WCHAR_MAX _UI16_MAX +#endif // WCHAR_MAX ] + +#define WINT_MIN 0 +#define WINT_MAX _UI16_MAX + +#endif // __STDC_LIMIT_MACROS ] + +// 7.18.4 Limits of other integer types + +#if !defined(__cplusplus) || \ + defined(__STDC_CONSTANT_MACROS) // [ See footnote 224 at page 260 + +// 7.18.4.1 Macros for minimum-width integer constants + +#define INT8_C(val) val##i8 +#define INT16_C(val) val##i16 +#define INT32_C(val) val##i32 +#define INT64_C(val) val##i64 + +#define UINT8_C(val) val##ui8 +#define UINT16_C(val) val##ui16 +#define UINT32_C(val) val##ui32 +#define UINT64_C(val) val##ui64 + +// 7.18.4.2 Macros for greatest-width integer constants +// These #ifndef's are needed to prevent collisions with . +// Check out Issue 9 for the details. +#ifndef INTMAX_C // [ +#define INTMAX_C INT64_C +#endif // INTMAX_C ] +#ifndef UINTMAX_C // [ +#define UINTMAX_C UINT64_C +#endif // UINTMAX_C ] + +#endif // __STDC_CONSTANT_MACROS ] + +#endif // _MSC_VER >= 1600 ] + +#endif // _MSC_STDINT_H_ ] diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/ostreamwrapper.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/ostreamwrapper.h new file mode 100644 index 0000000..56c50a7 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/ostreamwrapper.h @@ -0,0 +1,96 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_OSTREAMWRAPPER_H_ +#define RAPIDJSON_OSTREAMWRAPPER_H_ + +#include +#include "stream.h" + +#ifdef __clang__ +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(padded) +#endif + +RAPIDJSON_NAMESPACE_BEGIN + +//! Wrapper of \c std::basic_ostream into RapidJSON's Stream concept. +/*! + The classes can be wrapped including but not limited to: + + - \c std::ostringstream + - \c std::stringstream + - \c std::wpstringstream + - \c std::wstringstream + - \c std::ifstream + - \c std::fstream + - \c std::wofstream + - \c std::wfstream + + \tparam StreamType Class derived from \c std::basic_ostream. +*/ + +template +class BasicOStreamWrapper { + public: + typedef typename StreamType::char_type Ch; + BasicOStreamWrapper(StreamType &stream) : stream_(stream) {} + + void Put(Ch c) { stream_.put(c); } + + void Flush() { stream_.flush(); } + + // Not implemented + char Peek() const { + RAPIDJSON_ASSERT(false); + return 0; + } + char Take() { + RAPIDJSON_ASSERT(false); + return 0; + } + size_t Tell() const { + RAPIDJSON_ASSERT(false); + return 0; + } + char *PutBegin() { + RAPIDJSON_ASSERT(false); + return 0; + } + size_t PutEnd(char *) { + RAPIDJSON_ASSERT(false); + return 0; + } + + private: + BasicOStreamWrapper(const BasicOStreamWrapper &); + BasicOStreamWrapper &operator=(const BasicOStreamWrapper &); + + StreamType &stream_; +}; + +typedef BasicOStreamWrapper OStreamWrapper; +typedef BasicOStreamWrapper WOStreamWrapper; + +#ifdef __clang__ +RAPIDJSON_DIAG_POP +#endif + +RAPIDJSON_NAMESPACE_END + +#endif // RAPIDJSON_OSTREAMWRAPPER_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/pointer.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/pointer.h new file mode 100644 index 0000000..218dd6c --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/pointer.h @@ -0,0 +1,1712 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_POINTER_H_ +#define RAPIDJSON_POINTER_H_ + +#include "document.h" +#include "internal/itoa.h" + +#ifdef __clang__ +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(switch - enum) +#elif defined(_MSC_VER) +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(4512) // assignment operator could not be generated +#endif + +RAPIDJSON_NAMESPACE_BEGIN + +static const SizeType kPointerInvalidIndex = + ~SizeType(0); //!< Represents an invalid index in GenericPointer::Token + +//! Error code of parsing. +/*! \ingroup RAPIDJSON_ERRORS + \see GenericPointer::GenericPointer, GenericPointer::GetParseErrorCode +*/ +enum PointerParseErrorCode { + kPointerParseErrorNone = 0, //!< The parse is successful + + kPointerParseErrorTokenMustBeginWithSolidus, //!< A token must begin with a + //!< '/' + kPointerParseErrorInvalidEscape, //!< Invalid escape + kPointerParseErrorInvalidPercentEncoding, //!< Invalid percent encoding in + //!URI + //!< fragment + kPointerParseErrorCharacterMustPercentEncode //!< A character must percent + //!< encoded in URI fragment +}; + +/////////////////////////////////////////////////////////////////////////////// +// GenericPointer + +//! Represents a JSON Pointer. Use Pointer for UTF8 encoding and default +//! allocator. +/*! + This class implements RFC 6901 "JavaScript Object Notation (JSON) Pointer" + (https://tools.ietf.org/html/rfc6901). + + A JSON pointer is for identifying a specific value in a JSON document + (GenericDocument). It can simplify coding of DOM tree manipulation, because + it can access multiple-level depth of DOM tree with single API call. + + After it parses a string representation (e.g. "/foo/0" or URI fragment + representation (e.g. "#/foo/0") into its internal representation (tokens), + it can be used to resolve a specific value in multiple documents, or + sub-tree of documents. + + Contrary to GenericValue, Pointer can be copy constructed and copy assigned. + Apart from assignment, a Pointer cannot be modified after construction. + + Although Pointer is very convenient, please aware that constructing Pointer + involves parsing and dynamic memory allocation. A special constructor with + user- supplied tokens eliminates these. + + GenericPointer depends on GenericDocument and GenericValue. + + \tparam ValueType The value type of the DOM tree. E.g. GenericValue > + \tparam Allocator The allocator type for allocating memory for internal + representation. + + \note GenericPointer uses same encoding of ValueType. + However, Allocator of GenericPointer is independent of Allocator of Value. +*/ +template +class GenericPointer { + public: + typedef typename ValueType::EncodingType + EncodingType; //!< Encoding type from Value + typedef typename ValueType::Ch Ch; //!< Character type from Value + + //! A token is the basic units of internal representation. + /*! + A JSON pointer string representation "/foo/123" is parsed to two tokens: + "foo" and 123. 123 will be represented in both numeric form and string + form. They are resolved according to the actual value type (object or + array). + + For token that are not numbers, or the numeric value is out of bound + (greater than limits of SizeType), they are only treated as string form + (i.e. the token's index will be equal to kPointerInvalidIndex). + + This struct is public so that user can create a Pointer without parsing + and allocation, using a special constructor. + */ + struct Token { + const Ch + *name; //!< Name of the token. It has null character at the end but + //!< it can contain null character. + SizeType length; //!< Length of the name. + SizeType index; //!< A valid array index, if it is not equal to + //!< kPointerInvalidIndex. + }; + + //!@name Constructors and destructor. + //@{ + + //! Default constructor. + GenericPointer(Allocator *allocator = 0) + : allocator_(allocator), + ownAllocator_(), + nameBuffer_(), + tokens_(), + tokenCount_(), + parseErrorOffset_(), + parseErrorCode_(kPointerParseErrorNone) {} + + //! Constructor that parses a string or URI fragment representation. + /*! + \param source A null-terminated, string or URI fragment representation of + JSON pointer. \param allocator User supplied allocator for this pointer. If + no allocator is provided, it creates a self-owned one. + */ + explicit GenericPointer(const Ch *source, Allocator *allocator = 0) + : allocator_(allocator), + ownAllocator_(), + nameBuffer_(), + tokens_(), + tokenCount_(), + parseErrorOffset_(), + parseErrorCode_(kPointerParseErrorNone) { + Parse(source, internal::StrLen(source)); + } + +#if RAPIDJSON_HAS_STDSTRING + //! Constructor that parses a string or URI fragment representation. + /*! + \param source A string or URI fragment representation of JSON pointer. + \param allocator User supplied allocator for this pointer. If no allocator + is provided, it creates a self-owned one. \note Requires the definition of + the preprocessor symbol \ref RAPIDJSON_HAS_STDSTRING. + */ + explicit GenericPointer(const std::basic_string &source, + Allocator *allocator = 0) + : allocator_(allocator), + ownAllocator_(), + nameBuffer_(), + tokens_(), + tokenCount_(), + parseErrorOffset_(), + parseErrorCode_(kPointerParseErrorNone) { + Parse(source.c_str(), source.size()); + } +#endif + + //! Constructor that parses a string or URI fragment representation, with + //! length of the source string. + /*! + \param source A string or URI fragment representation of JSON pointer. + \param length Length of source. + \param allocator User supplied allocator for this pointer. If no allocator + is provided, it creates a self-owned one. \note Slightly faster than the + overload without length. + */ + GenericPointer(const Ch *source, size_t length, Allocator *allocator = 0) + : allocator_(allocator), + ownAllocator_(), + nameBuffer_(), + tokens_(), + tokenCount_(), + parseErrorOffset_(), + parseErrorCode_(kPointerParseErrorNone) { + Parse(source, length); + } + + //! Constructor with user-supplied tokens. + /*! + This constructor let user supplies const array of tokens. + This prevents the parsing process and eliminates allocation. + This is preferred for memory constrained environments. + + \param tokens An constant array of tokens representing the JSON pointer. + \param tokenCount Number of tokens. + + \b Example + \code + #define NAME(s) { s, sizeof(s) / sizeof(s[0]) - 1, kPointerInvalidIndex } + #define INDEX(i) { #i, sizeof(#i) - 1, i } + + static const Pointer::Token kTokens[] = { NAME("foo"), INDEX(123) }; + static const Pointer p(kTokens, sizeof(kTokens) / sizeof(kTokens[0])); + // Equivalent to static const Pointer p("/foo/123"); + + #undef NAME + #undef INDEX + \endcode + */ + GenericPointer(const Token *tokens, size_t tokenCount) + : allocator_(), + ownAllocator_(), + nameBuffer_(), + tokens_(const_cast(tokens)), + tokenCount_(tokenCount), + parseErrorOffset_(), + parseErrorCode_(kPointerParseErrorNone) {} + + //! Copy constructor. + GenericPointer(const GenericPointer &rhs) + : allocator_(rhs.allocator_), + ownAllocator_(), + nameBuffer_(), + tokens_(), + tokenCount_(), + parseErrorOffset_(), + parseErrorCode_(kPointerParseErrorNone) { + *this = rhs; + } + + //! Copy constructor. + GenericPointer(const GenericPointer &rhs, Allocator *allocator) + : allocator_(allocator), + ownAllocator_(), + nameBuffer_(), + tokens_(), + tokenCount_(), + parseErrorOffset_(), + parseErrorCode_(kPointerParseErrorNone) { + *this = rhs; + } + + //! Destructor. + ~GenericPointer() { + if (nameBuffer_) // If user-supplied tokens constructor is used, + // nameBuffer_ + // is nullptr and tokens_ are not deallocated. + Allocator::Free(tokens_); + RAPIDJSON_DELETE(ownAllocator_); + } + + //! Assignment operator. + GenericPointer &operator=(const GenericPointer &rhs) { + if (this != &rhs) { + // Do not delete ownAllcator + if (nameBuffer_) Allocator::Free(tokens_); + + tokenCount_ = rhs.tokenCount_; + parseErrorOffset_ = rhs.parseErrorOffset_; + parseErrorCode_ = rhs.parseErrorCode_; + + if (rhs.nameBuffer_) + CopyFromRaw(rhs); // Normally parsed tokens. + else { + tokens_ = rhs.tokens_; // User supplied const tokens. + nameBuffer_ = 0; + } + } + return *this; + } + + //! Swap the content of this pointer with an other. + /*! + \param other The pointer to swap with. + \note Constant complexity. + */ + GenericPointer &Swap(GenericPointer &other) RAPIDJSON_NOEXCEPT { + internal::Swap(allocator_, other.allocator_); + internal::Swap(ownAllocator_, other.ownAllocator_); + internal::Swap(nameBuffer_, other.nameBuffer_); + internal::Swap(tokens_, other.tokens_); + internal::Swap(tokenCount_, other.tokenCount_); + internal::Swap(parseErrorOffset_, other.parseErrorOffset_); + internal::Swap(parseErrorCode_, other.parseErrorCode_); + return *this; + } + + //! free-standing swap function helper + /*! + Helper function to enable support for common swap implementation pattern + based on \c std::swap: \code void swap(MyClass& a, MyClass& b) { using + std::swap; swap(a.pointer, b.pointer); + // ... + } + \endcode + \see Swap() + */ + friend inline void swap(GenericPointer &a, + GenericPointer &b) RAPIDJSON_NOEXCEPT { + a.Swap(b); + } + + //@} + + //!@name Append token + //@{ + + //! Append a token and return a new Pointer + /*! + \param token Token to be appended. + \param allocator Allocator for the newly return Pointer. + \return A new Pointer with appended token. + */ + GenericPointer Append(const Token &token, Allocator *allocator = 0) const { + GenericPointer r; + r.allocator_ = allocator; + Ch *p = r.CopyFromRaw(*this, 1, token.length + 1); + std::memcpy(p, token.name, (token.length + 1) * sizeof(Ch)); + r.tokens_[tokenCount_].name = p; + r.tokens_[tokenCount_].length = token.length; + r.tokens_[tokenCount_].index = token.index; + return r; + } + + //! Append a name token with length, and return a new Pointer + /*! + \param name Name to be appended. + \param length Length of name. + \param allocator Allocator for the newly return Pointer. + \return A new Pointer with appended token. + */ + GenericPointer Append(const Ch *name, SizeType length, + Allocator *allocator = 0) const { + Token token = {name, length, kPointerInvalidIndex}; + return Append(token, allocator); + } + + //! Append a name token without length, and return a new Pointer + /*! + \param name Name (const Ch*) to be appended. + \param allocator Allocator for the newly return Pointer. + \return A new Pointer with appended token. + */ + template + RAPIDJSON_DISABLEIF_RETURN( + (internal::NotExpr< + internal::IsSame::Type, Ch>>), + (GenericPointer)) + Append(T *name, Allocator *allocator = 0) const { + return Append(name, internal::StrLen(name), allocator); + } + +#if RAPIDJSON_HAS_STDSTRING + //! Append a name token, and return a new Pointer + /*! + \param name Name to be appended. + \param allocator Allocator for the newly return Pointer. + \return A new Pointer with appended token. + */ + GenericPointer Append(const std::basic_string &name, + Allocator *allocator = 0) const { + return Append(name.c_str(), static_cast(name.size()), allocator); + } +#endif + + //! Append a index token, and return a new Pointer + /*! + \param index Index to be appended. + \param allocator Allocator for the newly return Pointer. + \return A new Pointer with appended token. + */ + GenericPointer Append(SizeType index, Allocator *allocator = 0) const { + char buffer[21]; + char *end = sizeof(SizeType) == 4 ? internal::u32toa(index, buffer) + : internal::u64toa(index, buffer); + SizeType length = static_cast(end - buffer); + buffer[length] = '\0'; + + if (sizeof(Ch) == 1) { + Token token = {reinterpret_cast(buffer), length, index}; + return Append(token, allocator); + } else { + Ch name[21]; + for (size_t i = 0; i <= length; i++) name[i] = static_cast(buffer[i]); + Token token = {name, length, index}; + return Append(token, allocator); + } + } + + //! Append a token by value, and return a new Pointer + /*! + \param token token to be appended. + \param allocator Allocator for the newly return Pointer. + \return A new Pointer with appended token. + */ + GenericPointer Append(const ValueType &token, + Allocator *allocator = 0) const { + if (token.IsString()) + return Append(token.GetString(), token.GetStringLength(), allocator); + else { + RAPIDJSON_ASSERT(token.IsUint64()); + RAPIDJSON_ASSERT(token.GetUint64() <= SizeType(~0)); + return Append(static_cast(token.GetUint64()), allocator); + } + } + + //!@name Handling Parse Error + //@{ + + //! Check whether this is a valid pointer. + bool IsValid() const { return parseErrorCode_ == kPointerParseErrorNone; } + + //! Get the parsing error offset in code unit. + size_t GetParseErrorOffset() const { return parseErrorOffset_; } + + //! Get the parsing error code. + PointerParseErrorCode GetParseErrorCode() const { return parseErrorCode_; } + + //@} + + //! Get the allocator of this pointer. + Allocator &GetAllocator() { return *allocator_; } + + //!@name Tokens + //@{ + + //! Get the token array (const version only). + const Token *GetTokens() const { return tokens_; } + + //! Get the number of tokens. + size_t GetTokenCount() const { return tokenCount_; } + + //@} + + //!@name Equality/inequality operators + //@{ + + //! Equality operator. + /*! + \note When any pointers are invalid, always returns false. + */ + bool operator==(const GenericPointer &rhs) const { + if (!IsValid() || !rhs.IsValid() || tokenCount_ != rhs.tokenCount_) + return false; + + for (size_t i = 0; i < tokenCount_; i++) { + if (tokens_[i].index != rhs.tokens_[i].index || + tokens_[i].length != rhs.tokens_[i].length || + (tokens_[i].length != 0 && + std::memcmp(tokens_[i].name, rhs.tokens_[i].name, + sizeof(Ch) * tokens_[i].length) != 0)) { + return false; + } + } + + return true; + } + + //! Inequality operator. + /*! + \note When any pointers are invalid, always returns true. + */ + bool operator!=(const GenericPointer &rhs) const { return !(*this == rhs); } + + //! Less than operator. + /*! + \note Invalid pointers are always greater than valid ones. + */ + bool operator<(const GenericPointer &rhs) const { + if (!IsValid()) return false; + if (!rhs.IsValid()) return true; + + if (tokenCount_ != rhs.tokenCount_) return tokenCount_ < rhs.tokenCount_; + + for (size_t i = 0; i < tokenCount_; i++) { + if (tokens_[i].index != rhs.tokens_[i].index) + return tokens_[i].index < rhs.tokens_[i].index; + + if (tokens_[i].length != rhs.tokens_[i].length) + return tokens_[i].length < rhs.tokens_[i].length; + + if (int cmp = std::memcmp(tokens_[i].name, rhs.tokens_[i].name, + sizeof(Ch) * tokens_[i].length)) + return cmp < 0; + } + + return false; + } + + //@} + + //!@name Stringify + //@{ + + //! Stringify the pointer into string representation. + /*! + \tparam OutputStream Type of output stream. + \param os The output stream. + */ + template + bool Stringify(OutputStream &os) const { + return Stringify(os); + } + + //! Stringify the pointer into URI fragment representation. + /*! + \tparam OutputStream Type of output stream. + \param os The output stream. + */ + template + bool StringifyUriFragment(OutputStream &os) const { + return Stringify(os); + } + + //@} + + //!@name Create value + //@{ + + //! Create a value in a subtree. + /*! + If the value is not exist, it creates all parent values and a JSON Null + value. So it always succeed and return the newly created or existing value. + + Remind that it may change types of parents according to tokens, so it + potentially removes previously stored values. For example, if a document + was an array, and "/foo" is used to create a value, then the document + will be changed to an object, and all existing array elements are lost. + + \param root Root value of a DOM subtree to be resolved. It can be any + value other than document root. \param allocator Allocator for creating the + values if the specified value or its parents are not exist. \param + alreadyExist If non-null, it stores whether the resolved value is already + exist. \return The resolved newly created (a JSON Null value), or already + exists value. + */ + ValueType &Create(ValueType &root, + typename ValueType::AllocatorType &allocator, + bool *alreadyExist = 0) const { + RAPIDJSON_ASSERT(IsValid()); + ValueType *v = &root; + bool exist = true; + for (const Token *t = tokens_; t != tokens_ + tokenCount_; ++t) { + if (v->IsArray() && t->name[0] == '-' && t->length == 1) { + v->PushBack(ValueType().Move(), allocator); + v = &((*v)[v->Size() - 1]); + exist = false; + } else { + if (t->index == kPointerInvalidIndex) { // must be object name + if (!v->IsObject()) v->SetObject(); // Change to Object + } else { // object name or array index + if (!v->IsArray() && !v->IsObject()) + v->SetArray(); // Change to Array + } + + if (v->IsArray()) { + if (t->index >= v->Size()) { + v->Reserve(t->index + 1, allocator); + while (t->index >= v->Size()) + v->PushBack(ValueType().Move(), allocator); + exist = false; + } + v = &((*v)[t->index]); + } else { + typename ValueType::MemberIterator m = + v->FindMember(GenericValue( + GenericStringRef(t->name, t->length))); + if (m == v->MemberEnd()) { + v->AddMember(ValueType(t->name, t->length, allocator).Move(), + ValueType().Move(), allocator); + m = v->MemberEnd(); + v = &(--m)->value; // Assumes AddMember() appends at the end + exist = false; + } else + v = &m->value; + } + } + } + + if (alreadyExist) *alreadyExist = exist; + + return *v; + } + + //! Creates a value in a document. + /*! + \param document A document to be resolved. + \param alreadyExist If non-null, it stores whether the resolved value is + already exist. \return The resolved newly created, or already exists value. + */ + template + ValueType &Create( + GenericDocument &document, + bool *alreadyExist = 0) const { + return Create(document, document.GetAllocator(), alreadyExist); + } + + //@} + + //!@name Query value + //@{ + + //! Query a value in a subtree. + /*! + \param root Root value of a DOM sub-tree to be resolved. It can be any + value other than document root. \param unresolvedTokenIndex If the pointer + cannot resolve a token in the pointer, this parameter can obtain the index + of unresolved token. \return Pointer to the value if it can be resolved. + Otherwise null. + + \note + There are only 3 situations when a value cannot be resolved: + 1. A value in the path is not an array nor object. + 2. An object value does not contain the token. + 3. A token is out of range of an array value. + + Use unresolvedTokenIndex to retrieve the token index. + */ + ValueType *Get(ValueType &root, size_t *unresolvedTokenIndex = 0) const { + RAPIDJSON_ASSERT(IsValid()); + ValueType *v = &root; + for (const Token *t = tokens_; t != tokens_ + tokenCount_; ++t) { + switch (v->GetType()) { + case kObjectType: { + typename ValueType::MemberIterator m = + v->FindMember(GenericValue( + GenericStringRef(t->name, t->length))); + if (m == v->MemberEnd()) break; + v = &m->value; + } + continue; + case kArrayType: + if (t->index == kPointerInvalidIndex || t->index >= v->Size()) break; + v = &((*v)[t->index]); + continue; + default: + break; + } + + // Error: unresolved token + if (unresolvedTokenIndex) + *unresolvedTokenIndex = static_cast(t - tokens_); + return 0; + } + return v; + } + + //! Query a const value in a const subtree. + /*! + \param root Root value of a DOM sub-tree to be resolved. It can be any + value other than document root. \return Pointer to the value if it can be + resolved. Otherwise null. + */ + const ValueType *Get(const ValueType &root, + size_t *unresolvedTokenIndex = 0) const { + return Get(const_cast(root), unresolvedTokenIndex); + } + + //@} + + //!@name Query a value with default + //@{ + + //! Query a value in a subtree with default value. + /*! + Similar to Get(), but if the specified value do not exists, it creates all + parents and clone the default value. So that this function always succeed. + + \param root Root value of a DOM sub-tree to be resolved. It can be any + value other than document root. \param defaultValue Default value to be + cloned if the value was not exists. \param allocator Allocator for creating + the values if the specified value or its parents are not exist. \see + Create() + */ + ValueType &GetWithDefault( + ValueType &root, const ValueType &defaultValue, + typename ValueType::AllocatorType &allocator) const { + bool alreadyExist; + ValueType &v = Create(root, allocator, &alreadyExist); + return alreadyExist ? v : v.CopyFrom(defaultValue, allocator); + } + + //! Query a value in a subtree with default null-terminated string. + ValueType &GetWithDefault( + ValueType &root, const Ch *defaultValue, + typename ValueType::AllocatorType &allocator) const { + bool alreadyExist; + ValueType &v = Create(root, allocator, &alreadyExist); + return alreadyExist ? v : v.SetString(defaultValue, allocator); + } + +#if RAPIDJSON_HAS_STDSTRING + //! Query a value in a subtree with default std::basic_string. + ValueType &GetWithDefault( + ValueType &root, const std::basic_string &defaultValue, + typename ValueType::AllocatorType &allocator) const { + bool alreadyExist; + ValueType &v = Create(root, allocator, &alreadyExist); + return alreadyExist ? v : v.SetString(defaultValue, allocator); + } +#endif + + //! Query a value in a subtree with default primitive value. + /*! + \tparam T Either \ref Type, \c int, \c unsigned, \c int64_t, \c uint64_t, + \c bool + */ + template + RAPIDJSON_DISABLEIF_RETURN( + (internal::OrExpr, internal::IsGenericValue>), + (ValueType &)) + GetWithDefault(ValueType &root, T defaultValue, + typename ValueType::AllocatorType &allocator) const { + return GetWithDefault(root, ValueType(defaultValue).Move(), allocator); + } + + //! Query a value in a document with default value. + template + ValueType &GetWithDefault( + GenericDocument &document, + const ValueType &defaultValue) const { + return GetWithDefault(document, defaultValue, document.GetAllocator()); + } + + //! Query a value in a document with default null-terminated string. + template + ValueType &GetWithDefault( + GenericDocument &document, + const Ch *defaultValue) const { + return GetWithDefault(document, defaultValue, document.GetAllocator()); + } + +#if RAPIDJSON_HAS_STDSTRING + //! Query a value in a document with default std::basic_string. + template + ValueType &GetWithDefault( + GenericDocument &document, + const std::basic_string &defaultValue) const { + return GetWithDefault(document, defaultValue, document.GetAllocator()); + } +#endif + + //! Query a value in a document with default primitive value. + /*! + \tparam T Either \ref Type, \c int, \c unsigned, \c int64_t, \c uint64_t, + \c bool + */ + template + RAPIDJSON_DISABLEIF_RETURN( + (internal::OrExpr, internal::IsGenericValue>), + (ValueType &)) + GetWithDefault( + GenericDocument &document, + T defaultValue) const { + return GetWithDefault(document, defaultValue, document.GetAllocator()); + } + + //@} + + //!@name Set a value + //@{ + + //! Set a value in a subtree, with move semantics. + /*! + It creates all parents if they are not exist or types are different to the + tokens. So this function always succeeds but potentially remove existing + values. + + \param root Root value of a DOM sub-tree to be resolved. It can be any + value other than document root. \param value Value to be set. \param + allocator Allocator for creating the values if the specified value or its + parents are not exist. \see Create() + */ + ValueType &Set(ValueType &root, ValueType &value, + typename ValueType::AllocatorType &allocator) const { + return Create(root, allocator) = value; + } + + //! Set a value in a subtree, with copy semantics. + ValueType &Set(ValueType &root, const ValueType &value, + typename ValueType::AllocatorType &allocator) const { + return Create(root, allocator).CopyFrom(value, allocator); + } + + //! Set a null-terminated string in a subtree. + ValueType &Set(ValueType &root, const Ch *value, + typename ValueType::AllocatorType &allocator) const { + return Create(root, allocator) = ValueType(value, allocator).Move(); + } + +#if RAPIDJSON_HAS_STDSTRING + //! Set a std::basic_string in a subtree. + ValueType &Set(ValueType &root, const std::basic_string &value, + typename ValueType::AllocatorType &allocator) const { + return Create(root, allocator) = ValueType(value, allocator).Move(); + } +#endif + + //! Set a primitive value in a subtree. + /*! + \tparam T Either \ref Type, \c int, \c unsigned, \c int64_t, \c uint64_t, + \c bool + */ + template + RAPIDJSON_DISABLEIF_RETURN( + (internal::OrExpr, internal::IsGenericValue>), + (ValueType &)) + Set(ValueType &root, T value, + typename ValueType::AllocatorType &allocator) const { + return Create(root, allocator) = ValueType(value).Move(); + } + + //! Set a value in a document, with move semantics. + template + ValueType &Set( + GenericDocument &document, + ValueType &value) const { + return Create(document) = value; + } + + //! Set a value in a document, with copy semantics. + template + ValueType &Set( + GenericDocument &document, + const ValueType &value) const { + return Create(document).CopyFrom(value, document.GetAllocator()); + } + + //! Set a null-terminated string in a document. + template + ValueType &Set( + GenericDocument &document, + const Ch *value) const { + return Create(document) = ValueType(value, document.GetAllocator()).Move(); + } + +#if RAPIDJSON_HAS_STDSTRING + //! Sets a std::basic_string in a document. + template + ValueType &Set( + GenericDocument &document, + const std::basic_string &value) const { + return Create(document) = ValueType(value, document.GetAllocator()).Move(); + } +#endif + + //! Set a primitive value in a document. + /*! + \tparam T Either \ref Type, \c int, \c unsigned, \c int64_t, \c uint64_t, \c + bool + */ + template + RAPIDJSON_DISABLEIF_RETURN( + (internal::OrExpr, internal::IsGenericValue>), + (ValueType &)) + Set(GenericDocument &document, + T value) const { + return Create(document) = value; + } + + //@} + + //!@name Swap a value + //@{ + + //! Swap a value with a value in a subtree. + /*! + It creates all parents if they are not exist or types are different to the + tokens. So this function always succeeds but potentially remove existing + values. + + \param root Root value of a DOM sub-tree to be resolved. It can be any + value other than document root. \param value Value to be swapped. \param + allocator Allocator for creating the values if the specified value or its + parents are not exist. \see Create() + */ + ValueType &Swap(ValueType &root, ValueType &value, + typename ValueType::AllocatorType &allocator) const { + return Create(root, allocator).Swap(value); + } + + //! Swap a value with a value in a document. + template + ValueType &Swap( + GenericDocument &document, + ValueType &value) const { + return Create(document).Swap(value); + } + + //@} + + //! Erase a value in a subtree. + /*! + \param root Root value of a DOM sub-tree to be resolved. It can be any + value other than document root. \return Whether the resolved value is found + and erased. + + \note Erasing with an empty pointer \c Pointer(""), i.e. the root, always + fail and return false. + */ + bool Erase(ValueType &root) const { + RAPIDJSON_ASSERT(IsValid()); + if (tokenCount_ == 0) // Cannot erase the root + return false; + + ValueType *v = &root; + const Token *last = tokens_ + (tokenCount_ - 1); + for (const Token *t = tokens_; t != last; ++t) { + switch (v->GetType()) { + case kObjectType: { + typename ValueType::MemberIterator m = + v->FindMember(GenericValue( + GenericStringRef(t->name, t->length))); + if (m == v->MemberEnd()) return false; + v = &m->value; + } break; + case kArrayType: + if (t->index == kPointerInvalidIndex || t->index >= v->Size()) + return false; + v = &((*v)[t->index]); + break; + default: + return false; + } + } + + switch (v->GetType()) { + case kObjectType: + return v->EraseMember(GenericStringRef(last->name, last->length)); + case kArrayType: + if (last->index == kPointerInvalidIndex || last->index >= v->Size()) + return false; + v->Erase(v->Begin() + last->index); + return true; + default: + return false; + } + } + + private: + //! Clone the content from rhs to this. + /*! + \param rhs Source pointer. + \param extraToken Extra tokens to be allocated. + \param extraNameBufferSize Extra name buffer size (in number of Ch) to be + allocated. \return Start of non-occupied name buffer, for storing extra + names. + */ + Ch *CopyFromRaw(const GenericPointer &rhs, size_t extraToken = 0, + size_t extraNameBufferSize = 0) { + if (!allocator_) // allocator is independently owned. + ownAllocator_ = allocator_ = RAPIDJSON_NEW(Allocator)(); + + size_t nameBufferSize = rhs.tokenCount_; // null terminators for tokens + for (Token *t = rhs.tokens_; t != rhs.tokens_ + rhs.tokenCount_; ++t) + nameBufferSize += t->length; + + tokenCount_ = rhs.tokenCount_ + extraToken; + tokens_ = static_cast(allocator_->Malloc( + tokenCount_ * sizeof(Token) + + (nameBufferSize + extraNameBufferSize) * sizeof(Ch))); + nameBuffer_ = reinterpret_cast(tokens_ + tokenCount_); + if (rhs.tokenCount_ > 0) { + std::memcpy(tokens_, rhs.tokens_, rhs.tokenCount_ * sizeof(Token)); + } + if (nameBufferSize > 0) { + std::memcpy(nameBuffer_, rhs.nameBuffer_, nameBufferSize * sizeof(Ch)); + } + + // Adjust pointers to name buffer + std::ptrdiff_t diff = nameBuffer_ - rhs.nameBuffer_; + for (Token *t = tokens_; t != tokens_ + rhs.tokenCount_; ++t) + t->name += diff; + + return nameBuffer_ + nameBufferSize; + } + + //! Check whether a character should be percent-encoded. + /*! + According to RFC 3986 2.3 Unreserved Characters. + \param c The character (code unit) to be tested. + */ + bool NeedPercentEncode(Ch c) const { + return !((c >= '0' && c <= '9') || (c >= 'A' && c <= 'Z') || + (c >= 'a' && c <= 'z') || c == '-' || c == '.' || c == '_' || + c == '~'); + } + +//! Parse a JSON String or its URI fragment representation into tokens. +#ifndef __clang__ // -Wdocumentation + /*! + \param source Either a JSON Pointer string, or its URI fragment + representation. Not need to be null terminated. \param length + Length of the + source string. \note Source cannot be JSON String + Representation of JSON + Pointer, e.g. In "/\u0000", \u0000 will not be unescaped. + */ +#endif + void Parse(const Ch *source, size_t length) { + RAPIDJSON_ASSERT(source != NULL); + RAPIDJSON_ASSERT(nameBuffer_ == 0); + RAPIDJSON_ASSERT(tokens_ == 0); + + // Create own allocator if user did not supply. + if (!allocator_) ownAllocator_ = allocator_ = RAPIDJSON_NEW(Allocator)(); + + // Count number of '/' as tokenCount + tokenCount_ = 0; + for (const Ch *s = source; s != source + length; s++) + if (*s == '/') tokenCount_++; + + Token *token = tokens_ = static_cast( + allocator_->Malloc(tokenCount_ * sizeof(Token) + length * sizeof(Ch))); + Ch *name = nameBuffer_ = reinterpret_cast(tokens_ + tokenCount_); + size_t i = 0; + + // Detect if it is a URI fragment + bool uriFragment = false; + if (source[i] == '#') { + uriFragment = true; + i++; + } + + if (i != length && source[i] != '/') { + parseErrorCode_ = kPointerParseErrorTokenMustBeginWithSolidus; + goto error; + } + + while (i < length) { + RAPIDJSON_ASSERT(source[i] == '/'); + i++; // consumes '/' + + token->name = name; + bool isNumber = true; + + while (i < length && source[i] != '/') { + Ch c = source[i]; + if (uriFragment) { + // Decoding percent-encoding for URI fragment + if (c == '%') { + PercentDecodeStream is(&source[i], source + length); + GenericInsituStringStream os(name); + Ch *begin = os.PutBegin(); + if (!Transcoder, EncodingType>().Validate(is, os) || + !is.IsValid()) { + parseErrorCode_ = kPointerParseErrorInvalidPercentEncoding; + goto error; + } + size_t len = os.PutEnd(begin); + i += is.Tell() - 1; + if (len == 1) + c = *name; + else { + name += len; + isNumber = false; + i++; + continue; + } + } else if (NeedPercentEncode(c)) { + parseErrorCode_ = kPointerParseErrorCharacterMustPercentEncode; + goto error; + } + } + + i++; + + // Escaping "~0" -> '~', "~1" -> '/' + if (c == '~') { + if (i < length) { + c = source[i]; + if (c == '0') + c = '~'; + else if (c == '1') + c = '/'; + else { + parseErrorCode_ = kPointerParseErrorInvalidEscape; + goto error; + } + i++; + } else { + parseErrorCode_ = kPointerParseErrorInvalidEscape; + goto error; + } + } + + // First check for index: all of characters are digit + if (c < '0' || c > '9') isNumber = false; + + *name++ = c; + } + token->length = static_cast(name - token->name); + if (token->length == 0) isNumber = false; + *name++ = '\0'; // Null terminator + + // Second check for index: more than one digit cannot have leading zero + if (isNumber && token->length > 1 && token->name[0] == '0') + isNumber = false; + + // String to SizeType conversion + SizeType n = 0; + if (isNumber) { + for (size_t j = 0; j < token->length; j++) { + SizeType m = n * 10 + static_cast(token->name[j] - '0'); + if (m < n) { // overflow detection + isNumber = false; + break; + } + n = m; + } + } + + token->index = isNumber ? n : kPointerInvalidIndex; + token++; + } + + RAPIDJSON_ASSERT(name <= + nameBuffer_ + length); // Should not overflow buffer + parseErrorCode_ = kPointerParseErrorNone; + return; + + error: + Allocator::Free(tokens_); + nameBuffer_ = 0; + tokens_ = 0; + tokenCount_ = 0; + parseErrorOffset_ = i; + return; + } + + //! Stringify to string or URI fragment representation. + /*! + \tparam uriFragment True for stringifying to URI fragment representation. + False for string representation. \tparam OutputStream type of output + stream. \param os The output stream. + */ + template + bool Stringify(OutputStream &os) const { + RAPIDJSON_ASSERT(IsValid()); + + if (uriFragment) os.Put('#'); + + for (Token *t = tokens_; t != tokens_ + tokenCount_; ++t) { + os.Put('/'); + for (size_t j = 0; j < t->length; j++) { + Ch c = t->name[j]; + if (c == '~') { + os.Put('~'); + os.Put('0'); + } else if (c == '/') { + os.Put('~'); + os.Put('1'); + } else if (uriFragment && NeedPercentEncode(c)) { + // Transcode to UTF8 sequence + GenericStringStream source( + &t->name[j]); + PercentEncodeStream target(os); + if (!Transcoder>().Validate(source, target)) + return false; + j += source.Tell() - 1; + } else + os.Put(c); + } + } + return true; + } + + //! A helper stream for decoding a percent-encoded sequence into code unit. + /*! + This stream decodes %XY triplet into code unit (0-255). + If it encounters invalid characters, it sets output code unit as 0 and + mark invalid, and to be checked by IsValid(). + */ + class PercentDecodeStream { + public: + typedef typename ValueType::Ch Ch; + + //! Constructor + /*! + \param source Start of the stream + \param end Past-the-end of the stream. + */ + PercentDecodeStream(const Ch *source, const Ch *end) + : src_(source), head_(source), end_(end), valid_(true) {} + + Ch Take() { + if (*src_ != '%' || src_ + 3 > end_) { // %XY triplet + valid_ = false; + return 0; + } + src_++; + Ch c = 0; + for (int j = 0; j < 2; j++) { + c = static_cast(c << 4); + Ch h = *src_; + if (h >= '0' && h <= '9') + c = static_cast(c + h - '0'); + else if (h >= 'A' && h <= 'F') + c = static_cast(c + h - 'A' + 10); + else if (h >= 'a' && h <= 'f') + c = static_cast(c + h - 'a' + 10); + else { + valid_ = false; + return 0; + } + src_++; + } + return c; + } + + size_t Tell() const { return static_cast(src_ - head_); } + bool IsValid() const { return valid_; } + + private: + const Ch *src_; //!< Current read position. + const Ch *head_; //!< Original head of the string. + const Ch *end_; //!< Past-the-end position. + bool valid_; //!< Whether the parsing is valid. + }; + + //! A helper stream to encode character (UTF-8 code unit) into percent-encoded + //! sequence. + template + class PercentEncodeStream { + public: + PercentEncodeStream(OutputStream &os) : os_(os) {} + void Put(char c) { // UTF-8 must be byte + unsigned char u = static_cast(c); + static const char hexDigits[16] = {'0', '1', '2', '3', '4', '5', + '6', '7', '8', '9', 'A', 'B', + 'C', 'D', 'E', 'F'}; + os_.Put('%'); + os_.Put(static_cast(hexDigits[u >> 4])); + os_.Put(static_cast(hexDigits[u & 15])); + } + + private: + OutputStream &os_; + }; + + Allocator *allocator_; //!< The current allocator. It is either user-supplied + //!< or equal to ownAllocator_. + Allocator *ownAllocator_; //!< Allocator owned by this Pointer. + Ch *nameBuffer_; //!< A buffer containing all names in tokens. + Token *tokens_; //!< A list of tokens. + size_t tokenCount_; //!< Number of tokens in tokens_. + size_t parseErrorOffset_; //!< Offset in code unit when parsing fail. + PointerParseErrorCode parseErrorCode_; //!< Parsing error code. +}; + +//! GenericPointer for Value (UTF-8, default allocator). +typedef GenericPointer Pointer; + +//!@name Helper functions for GenericPointer +//@{ + +////////////////////////////////////////////////////////////////////////////// + +template +typename T::ValueType &CreateValueByPointer( + T &root, const GenericPointer &pointer, + typename T::AllocatorType &a) { + return pointer.Create(root, a); +} + +template +typename T::ValueType &CreateValueByPointer(T &root, + const CharType (&source)[N], + typename T::AllocatorType &a) { + return GenericPointer(source, N - 1).Create(root, a); +} + +// No allocator parameter + +template +typename DocumentType::ValueType &CreateValueByPointer( + DocumentType &document, + const GenericPointer &pointer) { + return pointer.Create(document); +} + +template +typename DocumentType::ValueType &CreateValueByPointer( + DocumentType &document, const CharType (&source)[N]) { + return GenericPointer(source, N - 1) + .Create(document); +} + +////////////////////////////////////////////////////////////////////////////// + +template +typename T::ValueType *GetValueByPointer( + T &root, const GenericPointer &pointer, + size_t *unresolvedTokenIndex = 0) { + return pointer.Get(root, unresolvedTokenIndex); +} + +template +const typename T::ValueType *GetValueByPointer( + const T &root, const GenericPointer &pointer, + size_t *unresolvedTokenIndex = 0) { + return pointer.Get(root, unresolvedTokenIndex); +} + +template +typename T::ValueType *GetValueByPointer(T &root, const CharType (&source)[N], + size_t *unresolvedTokenIndex = 0) { + return GenericPointer(source, N - 1) + .Get(root, unresolvedTokenIndex); +} + +template +const typename T::ValueType *GetValueByPointer( + const T &root, const CharType (&source)[N], + size_t *unresolvedTokenIndex = 0) { + return GenericPointer(source, N - 1) + .Get(root, unresolvedTokenIndex); +} + +////////////////////////////////////////////////////////////////////////////// + +template +typename T::ValueType &GetValueByPointerWithDefault( + T &root, const GenericPointer &pointer, + const typename T::ValueType &defaultValue, typename T::AllocatorType &a) { + return pointer.GetWithDefault(root, defaultValue, a); +} + +template +typename T::ValueType &GetValueByPointerWithDefault( + T &root, const GenericPointer &pointer, + const typename T::Ch *defaultValue, typename T::AllocatorType &a) { + return pointer.GetWithDefault(root, defaultValue, a); +} + +#if RAPIDJSON_HAS_STDSTRING +template +typename T::ValueType &GetValueByPointerWithDefault( + T &root, const GenericPointer &pointer, + const std::basic_string &defaultValue, + typename T::AllocatorType &a) { + return pointer.GetWithDefault(root, defaultValue, a); +} +#endif + +template +RAPIDJSON_DISABLEIF_RETURN( + (internal::OrExpr, internal::IsGenericValue>), + (typename T::ValueType &)) +GetValueByPointerWithDefault( + T &root, const GenericPointer &pointer, + T2 defaultValue, typename T::AllocatorType &a) { + return pointer.GetWithDefault(root, defaultValue, a); +} + +template +typename T::ValueType &GetValueByPointerWithDefault( + T &root, const CharType (&source)[N], + const typename T::ValueType &defaultValue, typename T::AllocatorType &a) { + return GenericPointer(source, N - 1) + .GetWithDefault(root, defaultValue, a); +} + +template +typename T::ValueType &GetValueByPointerWithDefault( + T &root, const CharType (&source)[N], const typename T::Ch *defaultValue, + typename T::AllocatorType &a) { + return GenericPointer(source, N - 1) + .GetWithDefault(root, defaultValue, a); +} + +#if RAPIDJSON_HAS_STDSTRING +template +typename T::ValueType &GetValueByPointerWithDefault( + T &root, const CharType (&source)[N], + const std::basic_string &defaultValue, + typename T::AllocatorType &a) { + return GenericPointer(source, N - 1) + .GetWithDefault(root, defaultValue, a); +} +#endif + +template +RAPIDJSON_DISABLEIF_RETURN( + (internal::OrExpr, internal::IsGenericValue>), + (typename T::ValueType &)) +GetValueByPointerWithDefault(T &root, const CharType (&source)[N], + T2 defaultValue, typename T::AllocatorType &a) { + return GenericPointer(source, N - 1) + .GetWithDefault(root, defaultValue, a); +} + +// No allocator parameter + +template +typename DocumentType::ValueType &GetValueByPointerWithDefault( + DocumentType &document, + const GenericPointer &pointer, + const typename DocumentType::ValueType &defaultValue) { + return pointer.GetWithDefault(document, defaultValue); +} + +template +typename DocumentType::ValueType &GetValueByPointerWithDefault( + DocumentType &document, + const GenericPointer &pointer, + const typename DocumentType::Ch *defaultValue) { + return pointer.GetWithDefault(document, defaultValue); +} + +#if RAPIDJSON_HAS_STDSTRING +template +typename DocumentType::ValueType &GetValueByPointerWithDefault( + DocumentType &document, + const GenericPointer &pointer, + const std::basic_string &defaultValue) { + return pointer.GetWithDefault(document, defaultValue); +} +#endif + +template +RAPIDJSON_DISABLEIF_RETURN( + (internal::OrExpr, internal::IsGenericValue>), + (typename DocumentType::ValueType &)) +GetValueByPointerWithDefault( + DocumentType &document, + const GenericPointer &pointer, + T2 defaultValue) { + return pointer.GetWithDefault(document, defaultValue); +} + +template +typename DocumentType::ValueType &GetValueByPointerWithDefault( + DocumentType &document, const CharType (&source)[N], + const typename DocumentType::ValueType &defaultValue) { + return GenericPointer(source, N - 1) + .GetWithDefault(document, defaultValue); +} + +template +typename DocumentType::ValueType &GetValueByPointerWithDefault( + DocumentType &document, const CharType (&source)[N], + const typename DocumentType::Ch *defaultValue) { + return GenericPointer(source, N - 1) + .GetWithDefault(document, defaultValue); +} + +#if RAPIDJSON_HAS_STDSTRING +template +typename DocumentType::ValueType &GetValueByPointerWithDefault( + DocumentType &document, const CharType (&source)[N], + const std::basic_string &defaultValue) { + return GenericPointer(source, N - 1) + .GetWithDefault(document, defaultValue); +} +#endif + +template +RAPIDJSON_DISABLEIF_RETURN( + (internal::OrExpr, internal::IsGenericValue>), + (typename DocumentType::ValueType &)) +GetValueByPointerWithDefault(DocumentType &document, + const CharType (&source)[N], T2 defaultValue) { + return GenericPointer(source, N - 1) + .GetWithDefault(document, defaultValue); +} + +////////////////////////////////////////////////////////////////////////////// + +template +typename T::ValueType &SetValueByPointer( + T &root, const GenericPointer &pointer, + typename T::ValueType &value, typename T::AllocatorType &a) { + return pointer.Set(root, value, a); +} + +template +typename T::ValueType &SetValueByPointer( + T &root, const GenericPointer &pointer, + const typename T::ValueType &value, typename T::AllocatorType &a) { + return pointer.Set(root, value, a); +} + +template +typename T::ValueType &SetValueByPointer( + T &root, const GenericPointer &pointer, + const typename T::Ch *value, typename T::AllocatorType &a) { + return pointer.Set(root, value, a); +} + +#if RAPIDJSON_HAS_STDSTRING +template +typename T::ValueType &SetValueByPointer( + T &root, const GenericPointer &pointer, + const std::basic_string &value, + typename T::AllocatorType &a) { + return pointer.Set(root, value, a); +} +#endif + +template +RAPIDJSON_DISABLEIF_RETURN( + (internal::OrExpr, internal::IsGenericValue>), + (typename T::ValueType &)) +SetValueByPointer(T &root, const GenericPointer &pointer, + T2 value, typename T::AllocatorType &a) { + return pointer.Set(root, value, a); +} + +template +typename T::ValueType &SetValueByPointer(T &root, const CharType (&source)[N], + typename T::ValueType &value, + typename T::AllocatorType &a) { + return GenericPointer(source, N - 1) + .Set(root, value, a); +} + +template +typename T::ValueType &SetValueByPointer(T &root, const CharType (&source)[N], + const typename T::ValueType &value, + typename T::AllocatorType &a) { + return GenericPointer(source, N - 1) + .Set(root, value, a); +} + +template +typename T::ValueType &SetValueByPointer(T &root, const CharType (&source)[N], + const typename T::Ch *value, + typename T::AllocatorType &a) { + return GenericPointer(source, N - 1) + .Set(root, value, a); +} + +#if RAPIDJSON_HAS_STDSTRING +template +typename T::ValueType &SetValueByPointer( + T &root, const CharType (&source)[N], + const std::basic_string &value, + typename T::AllocatorType &a) { + return GenericPointer(source, N - 1) + .Set(root, value, a); +} +#endif + +template +RAPIDJSON_DISABLEIF_RETURN( + (internal::OrExpr, internal::IsGenericValue>), + (typename T::ValueType &)) +SetValueByPointer(T &root, const CharType (&source)[N], T2 value, + typename T::AllocatorType &a) { + return GenericPointer(source, N - 1) + .Set(root, value, a); +} + +// No allocator parameter + +template +typename DocumentType::ValueType &SetValueByPointer( + DocumentType &document, + const GenericPointer &pointer, + typename DocumentType::ValueType &value) { + return pointer.Set(document, value); +} + +template +typename DocumentType::ValueType &SetValueByPointer( + DocumentType &document, + const GenericPointer &pointer, + const typename DocumentType::ValueType &value) { + return pointer.Set(document, value); +} + +template +typename DocumentType::ValueType &SetValueByPointer( + DocumentType &document, + const GenericPointer &pointer, + const typename DocumentType::Ch *value) { + return pointer.Set(document, value); +} + +#if RAPIDJSON_HAS_STDSTRING +template +typename DocumentType::ValueType &SetValueByPointer( + DocumentType &document, + const GenericPointer &pointer, + const std::basic_string &value) { + return pointer.Set(document, value); +} +#endif + +template +RAPIDJSON_DISABLEIF_RETURN( + (internal::OrExpr, internal::IsGenericValue>), + (typename DocumentType::ValueType &)) +SetValueByPointer( + DocumentType &document, + const GenericPointer &pointer, T2 value) { + return pointer.Set(document, value); +} + +template +typename DocumentType::ValueType &SetValueByPointer( + DocumentType &document, const CharType (&source)[N], + typename DocumentType::ValueType &value) { + return GenericPointer(source, N - 1) + .Set(document, value); +} + +template +typename DocumentType::ValueType &SetValueByPointer( + DocumentType &document, const CharType (&source)[N], + const typename DocumentType::ValueType &value) { + return GenericPointer(source, N - 1) + .Set(document, value); +} + +template +typename DocumentType::ValueType &SetValueByPointer( + DocumentType &document, const CharType (&source)[N], + const typename DocumentType::Ch *value) { + return GenericPointer(source, N - 1) + .Set(document, value); +} + +#if RAPIDJSON_HAS_STDSTRING +template +typename DocumentType::ValueType &SetValueByPointer( + DocumentType &document, const CharType (&source)[N], + const std::basic_string &value) { + return GenericPointer(source, N - 1) + .Set(document, value); +} +#endif + +template +RAPIDJSON_DISABLEIF_RETURN( + (internal::OrExpr, internal::IsGenericValue>), + (typename DocumentType::ValueType &)) +SetValueByPointer(DocumentType &document, const CharType (&source)[N], + T2 value) { + return GenericPointer(source, N - 1) + .Set(document, value); +} + +////////////////////////////////////////////////////////////////////////////// + +template +typename T::ValueType &SwapValueByPointer( + T &root, const GenericPointer &pointer, + typename T::ValueType &value, typename T::AllocatorType &a) { + return pointer.Swap(root, value, a); +} + +template +typename T::ValueType &SwapValueByPointer(T &root, const CharType (&source)[N], + typename T::ValueType &value, + typename T::AllocatorType &a) { + return GenericPointer(source, N - 1) + .Swap(root, value, a); +} + +template +typename DocumentType::ValueType &SwapValueByPointer( + DocumentType &document, + const GenericPointer &pointer, + typename DocumentType::ValueType &value) { + return pointer.Swap(document, value); +} + +template +typename DocumentType::ValueType &SwapValueByPointer( + DocumentType &document, const CharType (&source)[N], + typename DocumentType::ValueType &value) { + return GenericPointer(source, N - 1) + .Swap(document, value); +} + +////////////////////////////////////////////////////////////////////////////// + +template +bool EraseValueByPointer(T &root, + const GenericPointer &pointer) { + return pointer.Erase(root); +} + +template +bool EraseValueByPointer(T &root, const CharType (&source)[N]) { + return GenericPointer(source, N - 1).Erase(root); +} + +//@} + +RAPIDJSON_NAMESPACE_END + +#if defined(__clang__) || defined(_MSC_VER) +RAPIDJSON_DIAG_POP +#endif + +#endif // RAPIDJSON_POINTER_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/prettywriter.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/prettywriter.h new file mode 100644 index 0000000..f24bd0f --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/prettywriter.h @@ -0,0 +1,333 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_PRETTYWRITER_H_ +#define RAPIDJSON_PRETTYWRITER_H_ + +#include "writer.h" + +#ifdef __GNUC__ +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(effc++) +#endif + +#if defined(__clang__) +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(c++ 98 - compat) +#endif + +RAPIDJSON_NAMESPACE_BEGIN + +//! Combination of PrettyWriter format flags. +/*! \see PrettyWriter::SetFormatOptions + */ +enum PrettyFormatOptions { + kFormatDefault = 0, //!< Default pretty formatting. + kFormatSingleLineArray = 1 //!< Format arrays on a single line. +}; + +//! Writer with indentation and spacing. +/*! + \tparam OutputStream Type of output os. + \tparam SourceEncoding Encoding of source string. + \tparam TargetEncoding Encoding of output stream. + \tparam StackAllocator Type of allocator for allocating memory of stack. +*/ +template , + typename TargetEncoding = UTF8<>, + typename StackAllocator = CrtAllocator, + unsigned writeFlags = kWriteDefaultFlags> +class PrettyWriter : public Writer { + public: + typedef Writer + Base; + typedef typename Base::Ch Ch; + + //! Constructor + /*! \param os Output stream. + \param allocator User supplied allocator. If it is null, it will create a + private one. \param levelDepth Initial capacity of stack. + */ + explicit PrettyWriter(OutputStream &os, StackAllocator *allocator = 0, + size_t levelDepth = Base::kDefaultLevelDepth) + : Base(os, allocator, levelDepth), + indentChar_(' '), + indentCharCount_(4), + formatOptions_(kFormatDefault) {} + + explicit PrettyWriter(StackAllocator *allocator = 0, + size_t levelDepth = Base::kDefaultLevelDepth) + : Base(allocator, levelDepth), indentChar_(' '), indentCharCount_(4) {} + +#if RAPIDJSON_HAS_CXX11_RVALUE_REFS + PrettyWriter(PrettyWriter &&rhs) + : Base(std::forward(rhs)), + indentChar_(rhs.indentChar_), + indentCharCount_(rhs.indentCharCount_), + formatOptions_(rhs.formatOptions_) {} +#endif + + //! Set custom indentation. + /*! \param indentChar Character for indentation. Must be whitespace + character (' ', '\\t', '\\n', '\\r'). \param indentCharCount Number of + indent characters for each indentation level. \note The default indentation + is 4 spaces. + */ + PrettyWriter &SetIndent(Ch indentChar, unsigned indentCharCount) { + RAPIDJSON_ASSERT(indentChar == ' ' || indentChar == '\t' || + indentChar == '\n' || indentChar == '\r'); + indentChar_ = indentChar; + indentCharCount_ = indentCharCount; + return *this; + } + + //! Set pretty writer formatting options. + /*! \param options Formatting options. + */ + PrettyWriter &SetFormatOptions(PrettyFormatOptions options) { + formatOptions_ = options; + return *this; + } + + /*! @name Implementation of Handler + \see Handler + */ + //@{ + + bool Null() { + PrettyPrefix(kNullType); + return Base::EndValue(Base::WriteNull()); + } + bool Bool(bool b) { + PrettyPrefix(b ? kTrueType : kFalseType); + return Base::EndValue(Base::WriteBool(b)); + } + bool Int(int i) { + PrettyPrefix(kNumberType); + return Base::EndValue(Base::WriteInt(i)); + } + bool Uint(unsigned u) { + PrettyPrefix(kNumberType); + return Base::EndValue(Base::WriteUint(u)); + } + bool Int64(int64_t i64) { + PrettyPrefix(kNumberType); + return Base::EndValue(Base::WriteInt64(i64)); + } + bool Uint64(uint64_t u64) { + PrettyPrefix(kNumberType); + return Base::EndValue(Base::WriteUint64(u64)); + } + bool Double(double d) { + PrettyPrefix(kNumberType); + return Base::EndValue(Base::WriteDouble(d)); + } + + bool RawNumber(const Ch *str, SizeType length, bool copy = false) { + RAPIDJSON_ASSERT(str != 0); + (void)copy; + PrettyPrefix(kNumberType); + return Base::EndValue(Base::WriteString(str, length)); + } + + bool String(const Ch *str, SizeType length, bool copy = false) { + RAPIDJSON_ASSERT(str != 0); + (void)copy; + PrettyPrefix(kStringType); + return Base::EndValue(Base::WriteString(str, length)); + } + +#if RAPIDJSON_HAS_STDSTRING + bool String(const std::basic_string &str) { + return String(str.data(), SizeType(str.size())); + } +#endif + + bool StartObject() { + PrettyPrefix(kObjectType); + new (Base::level_stack_.template Push()) + typename Base::Level(false); + return Base::WriteStartObject(); + } + + bool Key(const Ch *str, SizeType length, bool copy = false) { + return String(str, length, copy); + } + +#if RAPIDJSON_HAS_STDSTRING + bool Key(const std::basic_string &str) { + return Key(str.data(), SizeType(str.size())); + } +#endif + + bool EndObject(SizeType memberCount = 0) { + (void)memberCount; + RAPIDJSON_ASSERT(Base::level_stack_.GetSize() >= + sizeof(typename Base::Level)); // not inside an Object + RAPIDJSON_ASSERT(!Base::level_stack_.template Top() + ->inArray); // currently inside an Array, not Object + RAPIDJSON_ASSERT( + 0 == + Base::level_stack_.template Top()->valueCount % + 2); // Object has a Key without a Value + + bool empty = + Base::level_stack_.template Pop(1)->valueCount == + 0; + + if (!empty) { + Base::os_->Put('\n'); + WriteIndent(); + } + bool ret = Base::EndValue(Base::WriteEndObject()); + (void)ret; + RAPIDJSON_ASSERT(ret == true); + if (Base::level_stack_.Empty()) // end of json text + Base::Flush(); + return true; + } + + bool StartArray() { + PrettyPrefix(kArrayType); + new (Base::level_stack_.template Push()) + typename Base::Level(true); + return Base::WriteStartArray(); + } + + bool EndArray(SizeType memberCount = 0) { + (void)memberCount; + RAPIDJSON_ASSERT(Base::level_stack_.GetSize() >= + sizeof(typename Base::Level)); + RAPIDJSON_ASSERT( + Base::level_stack_.template Top()->inArray); + bool empty = + Base::level_stack_.template Pop(1)->valueCount == + 0; + + if (!empty && !(formatOptions_ & kFormatSingleLineArray)) { + Base::os_->Put('\n'); + WriteIndent(); + } + bool ret = Base::EndValue(Base::WriteEndArray()); + (void)ret; + RAPIDJSON_ASSERT(ret == true); + if (Base::level_stack_.Empty()) // end of json text + Base::Flush(); + return true; + } + + //@} + + /*! @name Convenience extensions */ + //@{ + + //! Simpler but slower overload. + bool String(const Ch *str) { return String(str, internal::StrLen(str)); } + bool Key(const Ch *str) { return Key(str, internal::StrLen(str)); } + + //@} + + //! Write a raw JSON value. + /*! + For user to write a stringified JSON as a value. + + \param json A well-formed JSON value. It should not contain null character + within [0, length - 1] range. \param length Length of the json. \param type + Type of the root of json. \note When using PrettyWriter::RawValue(), the + result json may not be indented correctly. + */ + bool RawValue(const Ch *json, size_t length, Type type) { + RAPIDJSON_ASSERT(json != 0); + PrettyPrefix(type); + return Base::EndValue(Base::WriteRawValue(json, length)); + } + + protected: + void PrettyPrefix(Type type) { + (void)type; + if (Base::level_stack_.GetSize() != 0) { // this value is not at root + typename Base::Level *level = + Base::level_stack_.template Top(); + + if (level->inArray) { + if (level->valueCount > 0) { + Base::os_->Put( + ','); // add comma if it is not the first element in array + if (formatOptions_ & kFormatSingleLineArray) Base::os_->Put(' '); + } + + if (!(formatOptions_ & kFormatSingleLineArray)) { + Base::os_->Put('\n'); + WriteIndent(); + } + } else { // in object + if (level->valueCount > 0) { + if (level->valueCount % 2 == 0) { + Base::os_->Put(','); + Base::os_->Put('\n'); + } else { + Base::os_->Put(':'); + Base::os_->Put(' '); + } + } else + Base::os_->Put('\n'); + + if (level->valueCount % 2 == 0) WriteIndent(); + } + if (!level->inArray && level->valueCount % 2 == 0) + RAPIDJSON_ASSERT(type == kStringType); // if it's in object, then even + // number should be a name + level->valueCount++; + } else { + RAPIDJSON_ASSERT( + !Base::hasRoot_); // Should only has one and only one root. + Base::hasRoot_ = true; + } + } + + void WriteIndent() { + size_t count = + (Base::level_stack_.GetSize() / sizeof(typename Base::Level)) * + indentCharCount_; + PutN(*Base::os_, static_cast(indentChar_), + count); + } + + Ch indentChar_; + unsigned indentCharCount_; + PrettyFormatOptions formatOptions_; + + private: + // Prohibit copy constructor & assignment operator. + PrettyWriter(const PrettyWriter &); + PrettyWriter &operator=(const PrettyWriter &); +}; + +RAPIDJSON_NAMESPACE_END + +#if defined(__clang__) +RAPIDJSON_DIAG_POP +#endif + +#ifdef __GNUC__ +RAPIDJSON_DIAG_POP +#endif + +#endif // RAPIDJSON_RAPIDJSON_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/rapidjson.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/rapidjson.h new file mode 100644 index 0000000..7af85e8 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/rapidjson.h @@ -0,0 +1,719 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_RAPIDJSON_H_ +#define RAPIDJSON_RAPIDJSON_H_ + +/*!\file rapidjson.h + \brief common definitions and configuration + + \see RAPIDJSON_CONFIG + */ + +/*! \defgroup RAPIDJSON_CONFIG RapidJSON configuration + \brief Configuration macros for library features + + Some RapidJSON features are configurable to adapt the library to a wide + variety of platforms, environments and usage scenarios. Most of the + features can be configured in terms of overridden or predefined + preprocessor macros at compile-time. + + Some additional customization is available in the \ref RAPIDJSON_ERRORS + APIs. + + \note These macros should be given on the compiler command-line + (where applicable) to avoid inconsistent values when compiling + different translation units of a single application. + */ + +#include // malloc(), realloc(), free(), size_t +#include // memset(), memcpy(), memmove(), memcmp() + +/////////////////////////////////////////////////////////////////////////////// +// RAPIDJSON_VERSION_STRING +// +// ALWAYS synchronize the following 3 macros with corresponding variables in +// /CMakeLists.txt. +// + +//!@cond RAPIDJSON_HIDDEN_FROM_DOXYGEN +// token stringification +#define RAPIDJSON_STRINGIFY(x) RAPIDJSON_DO_STRINGIFY(x) +#define RAPIDJSON_DO_STRINGIFY(x) #x + +// token concatenation +#define RAPIDJSON_JOIN(X, Y) RAPIDJSON_DO_JOIN(X, Y) +#define RAPIDJSON_DO_JOIN(X, Y) RAPIDJSON_DO_JOIN2(X, Y) +#define RAPIDJSON_DO_JOIN2(X, Y) X##Y +//!@endcond + +/*! \def RAPIDJSON_MAJOR_VERSION + \ingroup RAPIDJSON_CONFIG + \brief Major version of RapidJSON in integer. +*/ +/*! \def RAPIDJSON_MINOR_VERSION + \ingroup RAPIDJSON_CONFIG + \brief Minor version of RapidJSON in integer. +*/ +/*! \def RAPIDJSON_PATCH_VERSION + \ingroup RAPIDJSON_CONFIG + \brief Patch version of RapidJSON in integer. +*/ +/*! \def RAPIDJSON_VERSION_STRING + \ingroup RAPIDJSON_CONFIG + \brief Version of RapidJSON in ".." string format. +*/ +#define RAPIDJSON_MAJOR_VERSION 1 +#define RAPIDJSON_MINOR_VERSION 1 +#define RAPIDJSON_PATCH_VERSION 0 +#define RAPIDJSON_VERSION_STRING \ + RAPIDJSON_STRINGIFY( \ + RAPIDJSON_MAJOR_VERSION.RAPIDJSON_MINOR_VERSION.RAPIDJSON_PATCH_VERSION) + +/////////////////////////////////////////////////////////////////////////////// +// RAPIDJSON_NAMESPACE_(BEGIN|END) +/*! \def RAPIDJSON_NAMESPACE + \ingroup RAPIDJSON_CONFIG + \brief provide custom rapidjson namespace + + In order to avoid symbol clashes and/or "One Definition Rule" errors + between multiple inclusions of (different versions of) RapidJSON in + a single binary, users can customize the name of the main RapidJSON + namespace. + + In case of a single nesting level, defining \c RAPIDJSON_NAMESPACE + to a custom name (e.g. \c MyRapidJSON) is sufficient. If multiple + levels are needed, both \ref RAPIDJSON_NAMESPACE_BEGIN and \ref + RAPIDJSON_NAMESPACE_END need to be defined as well: + + \code + // in some .cpp file + #define RAPIDJSON_NAMESPACE my::rapidjson + #define RAPIDJSON_NAMESPACE_BEGIN namespace my { namespace rapidjson { + #define RAPIDJSON_NAMESPACE_END } } + #include "rapidjson/..." + \endcode + + \see rapidjson + */ +/*! \def RAPIDJSON_NAMESPACE_BEGIN + \ingroup RAPIDJSON_CONFIG + \brief provide custom rapidjson namespace (opening expression) + \see RAPIDJSON_NAMESPACE +*/ +/*! \def RAPIDJSON_NAMESPACE_END + \ingroup RAPIDJSON_CONFIG + \brief provide custom rapidjson namespace (closing expression) + \see RAPIDJSON_NAMESPACE +*/ +#ifndef RAPIDJSON_NAMESPACE +#define RAPIDJSON_NAMESPACE rapidjson +#endif +#ifndef RAPIDJSON_NAMESPACE_BEGIN +#define RAPIDJSON_NAMESPACE_BEGIN namespace RAPIDJSON_NAMESPACE { +#endif +#ifndef RAPIDJSON_NAMESPACE_END +#define RAPIDJSON_NAMESPACE_END } +#endif + +/////////////////////////////////////////////////////////////////////////////// +// RAPIDJSON_HAS_STDSTRING + +#ifndef RAPIDJSON_HAS_STDSTRING +#ifdef RAPIDJSON_DOXYGEN_RUNNING +#define RAPIDJSON_HAS_STDSTRING 1 // force generation of documentation +#else +#define RAPIDJSON_HAS_STDSTRING 0 // no std::string support by default +#endif +/*! \def RAPIDJSON_HAS_STDSTRING + \ingroup RAPIDJSON_CONFIG + \brief Enable RapidJSON support for \c std::string + + By defining this preprocessor symbol to \c 1, several convenience functions + for using \ref rapidjson::GenericValue with \c std::string are enabled, + especially for construction and comparison. + + \hideinitializer +*/ +#endif // !defined(RAPIDJSON_HAS_STDSTRING) + +#if RAPIDJSON_HAS_STDSTRING +#include +#endif // RAPIDJSON_HAS_STDSTRING + +/////////////////////////////////////////////////////////////////////////////// +// RAPIDJSON_NO_INT64DEFINE + +/*! \def RAPIDJSON_NO_INT64DEFINE + \ingroup RAPIDJSON_CONFIG + \brief Use external 64-bit integer types. + + RapidJSON requires the 64-bit integer types \c int64_t and \c uint64_t + types to be available at global scope. + + If users have their own definition, define RAPIDJSON_NO_INT64DEFINE to + prevent RapidJSON from defining its own types. +*/ +#ifndef RAPIDJSON_NO_INT64DEFINE +//!@cond RAPIDJSON_HIDDEN_FROM_DOXYGEN +#if defined(_MSC_VER) && (_MSC_VER < 1800) // Visual Studio 2013 +#include "msinttypes/inttypes.h" +#include "msinttypes/stdint.h" +#else +// Other compilers should have this. +#include +#include +#endif +//!@endcond +#ifdef RAPIDJSON_DOXYGEN_RUNNING +#define RAPIDJSON_NO_INT64DEFINE +#endif +#endif // RAPIDJSON_NO_INT64TYPEDEF + +/////////////////////////////////////////////////////////////////////////////// +// RAPIDJSON_FORCEINLINE + +#ifndef RAPIDJSON_FORCEINLINE +//!@cond RAPIDJSON_HIDDEN_FROM_DOXYGEN +#if defined(_MSC_VER) && defined(NDEBUG) +#define RAPIDJSON_FORCEINLINE __forceinline +#elif defined(__GNUC__) && __GNUC__ >= 4 && defined(NDEBUG) +#define RAPIDJSON_FORCEINLINE __attribute__((always_inline)) +#else +#define RAPIDJSON_FORCEINLINE +#endif +//!@endcond +#endif // RAPIDJSON_FORCEINLINE + +/////////////////////////////////////////////////////////////////////////////// +// RAPIDJSON_ENDIAN +#define RAPIDJSON_LITTLEENDIAN 0 //!< Little endian machine +#define RAPIDJSON_BIGENDIAN 1 //!< Big endian machine + +//! Endianness of the machine. +/*! + \def RAPIDJSON_ENDIAN + \ingroup RAPIDJSON_CONFIG + + GCC 4.6 provided macro for detecting endianness of the target machine. But + other compilers may not have this. User can define RAPIDJSON_ENDIAN to either + \ref RAPIDJSON_LITTLEENDIAN or \ref RAPIDJSON_BIGENDIAN. + + Default detection implemented with reference to + \li + https://gcc.gnu.org/onlinedocs/gcc-4.6.0/cpp/Common-Predefined-Macros.html + \li http://www.boost.org/doc/libs/1_42_0/boost/detail/endian.hpp +*/ +#ifndef RAPIDJSON_ENDIAN +// Detect with GCC 4.6's macro +#ifdef __BYTE_ORDER__ +#if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__ +#define RAPIDJSON_ENDIAN RAPIDJSON_LITTLEENDIAN +#elif __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__ +#define RAPIDJSON_ENDIAN RAPIDJSON_BIGENDIAN +#else +# error Unknown machine endianness detected. User needs to define RAPIDJSON_ENDIAN. +#endif // __BYTE_ORDER__ +// Detect with GLIBC's endian.h +#elif defined(__GLIBC__) +#include +#if (__BYTE_ORDER == __LITTLE_ENDIAN) +#define RAPIDJSON_ENDIAN RAPIDJSON_LITTLEENDIAN +#elif (__BYTE_ORDER == __BIG_ENDIAN) +#define RAPIDJSON_ENDIAN RAPIDJSON_BIGENDIAN +#else +# error Unknown machine endianness detected. User needs to define RAPIDJSON_ENDIAN. +#endif // __GLIBC__ +// Detect with _LITTLE_ENDIAN and _BIG_ENDIAN macro +#elif defined(_LITTLE_ENDIAN) && !defined(_BIG_ENDIAN) +#define RAPIDJSON_ENDIAN RAPIDJSON_LITTLEENDIAN +#elif defined(_BIG_ENDIAN) && !defined(_LITTLE_ENDIAN) +#define RAPIDJSON_ENDIAN RAPIDJSON_BIGENDIAN +// Detect with architecture macros +#elif defined(__sparc) || defined(__sparc__) || defined(_POWER) || \ + defined(__powerpc__) || defined(__ppc__) || defined(__hpux) || \ + defined(__hppa) || defined(_MIPSEB) || defined(_POWER) || \ + defined(__s390__) +#define RAPIDJSON_ENDIAN RAPIDJSON_BIGENDIAN +#elif defined(__i386__) || defined(__alpha__) || defined(__ia64) || \ + defined(__ia64__) || defined(_M_IX86) || defined(_M_IA64) || \ + defined(_M_ALPHA) || defined(__amd64) || defined(__amd64__) || \ + defined(_M_AMD64) || defined(__x86_64) || defined(__x86_64__) || \ + defined(_M_X64) || defined(__bfin__) +#define RAPIDJSON_ENDIAN RAPIDJSON_LITTLEENDIAN +#elif defined(_MSC_VER) && (defined(_M_ARM) || defined(_M_ARM64)) +#define RAPIDJSON_ENDIAN RAPIDJSON_LITTLEENDIAN +#elif defined(RAPIDJSON_DOXYGEN_RUNNING) +#define RAPIDJSON_ENDIAN +#else +# error Unknown machine endianness detected. User needs to define RAPIDJSON_ENDIAN. +#endif +#endif // RAPIDJSON_ENDIAN + +/////////////////////////////////////////////////////////////////////////////// +// RAPIDJSON_64BIT + +//! Whether using 64-bit architecture +#ifndef RAPIDJSON_64BIT +#if defined(__LP64__) || (defined(__x86_64__) && defined(__ILP32__)) || \ + defined(_WIN64) || defined(__EMSCRIPTEN__) +#define RAPIDJSON_64BIT 1 +#else +#define RAPIDJSON_64BIT 0 +#endif +#endif // RAPIDJSON_64BIT + +/////////////////////////////////////////////////////////////////////////////// +// RAPIDJSON_ALIGN + +//! Data alignment of the machine. +/*! \ingroup RAPIDJSON_CONFIG + \param x pointer to align + + Some machines require strict data alignment. The default is 8 bytes. + User can customize by defining the RAPIDJSON_ALIGN function macro. +*/ +#ifndef RAPIDJSON_ALIGN +#define RAPIDJSON_ALIGN(x) \ + (((x) + static_cast(7u)) & ~static_cast(7u)) +#endif + +/////////////////////////////////////////////////////////////////////////////// +// RAPIDJSON_UINT64_C2 + +//! Construct a 64-bit literal by a pair of 32-bit integer. +/*! + 64-bit literal with or without ULL suffix is prone to compiler warnings. + UINT64_C() is C macro which cause compilation problems. + Use this macro to define 64-bit constants by a pair of 32-bit integer. +*/ +#ifndef RAPIDJSON_UINT64_C2 +#define RAPIDJSON_UINT64_C2(high32, low32) \ + ((static_cast(high32) << 32) | static_cast(low32)) +#endif + +/////////////////////////////////////////////////////////////////////////////// +// RAPIDJSON_48BITPOINTER_OPTIMIZATION + +//! Use only lower 48-bit address for some pointers. +/*! + \ingroup RAPIDJSON_CONFIG + + This optimization uses the fact that current X86-64 architecture only + implement lower 48-bit virtual address. The higher 16-bit can be used for + storing other data. \c GenericValue uses this optimization to reduce its size + form 24 bytes to 16 bytes in 64-bit architecture. +*/ +#ifndef RAPIDJSON_48BITPOINTER_OPTIMIZATION +#if defined(__amd64__) || defined(__amd64) || defined(__x86_64__) || \ + defined(__x86_64) || defined(_M_X64) || defined(_M_AMD64) +#define RAPIDJSON_48BITPOINTER_OPTIMIZATION 1 +#else +#define RAPIDJSON_48BITPOINTER_OPTIMIZATION 0 +#endif +#endif // RAPIDJSON_48BITPOINTER_OPTIMIZATION + +#if RAPIDJSON_48BITPOINTER_OPTIMIZATION == 1 +#if RAPIDJSON_64BIT != 1 +#error RAPIDJSON_48BITPOINTER_OPTIMIZATION can only be set to 1 when RAPIDJSON_64BIT=1 +#endif +#define RAPIDJSON_SETPOINTER(type, p, x) \ + (p = reinterpret_cast( \ + (reinterpret_cast(p) & \ + static_cast(RAPIDJSON_UINT64_C2(0xFFFF0000, 0x00000000))) | \ + reinterpret_cast(reinterpret_cast(x)))) +#define RAPIDJSON_GETPOINTER(type, p) \ + (reinterpret_cast( \ + reinterpret_cast(p) & \ + static_cast(RAPIDJSON_UINT64_C2(0x0000FFFF, 0xFFFFFFFF)))) +#else +#define RAPIDJSON_SETPOINTER(type, p, x) (p = (x)) +#define RAPIDJSON_GETPOINTER(type, p) (p) +#endif + +/////////////////////////////////////////////////////////////////////////////// +// RAPIDJSON_SSE2/RAPIDJSON_SSE42/RAPIDJSON_NEON/RAPIDJSON_SIMD + +/*! \def RAPIDJSON_SIMD + \ingroup RAPIDJSON_CONFIG + \brief Enable SSE2/SSE4.2/Neon optimization. + + RapidJSON supports optimized implementations for some parsing operations + based on the SSE2, SSE4.2 or NEon SIMD extensions on modern Intel + or ARM compatible processors. + + To enable these optimizations, three different symbols can be defined; + \code + // Enable SSE2 optimization. + #define RAPIDJSON_SSE2 + + // Enable SSE4.2 optimization. + #define RAPIDJSON_SSE42 + \endcode + + // Enable ARM Neon optimization. + #define RAPIDJSON_NEON + \endcode + + \c RAPIDJSON_SSE42 takes precedence over SSE2, if both are defined. + + If any of these symbols is defined, RapidJSON defines the macro + \c RAPIDJSON_SIMD to indicate the availability of the optimized code. +*/ +#if defined(RAPIDJSON_SSE2) || defined(RAPIDJSON_SSE42) || \ + defined(RAPIDJSON_NEON) || defined(RAPIDJSON_DOXYGEN_RUNNING) +#define RAPIDJSON_SIMD +#endif + +/////////////////////////////////////////////////////////////////////////////// +// RAPIDJSON_NO_SIZETYPEDEFINE + +#ifndef RAPIDJSON_NO_SIZETYPEDEFINE +/*! \def RAPIDJSON_NO_SIZETYPEDEFINE + \ingroup RAPIDJSON_CONFIG + \brief User-provided \c SizeType definition. + + In order to avoid using 32-bit size types for indexing strings and arrays, + define this preprocessor symbol and provide the type rapidjson::SizeType + before including RapidJSON: + \code + #define RAPIDJSON_NO_SIZETYPEDEFINE + namespace rapidjson { typedef ::std::size_t SizeType; } + #include "rapidjson/..." + \endcode + + \see rapidjson::SizeType +*/ +#ifdef RAPIDJSON_DOXYGEN_RUNNING +#define RAPIDJSON_NO_SIZETYPEDEFINE +#endif +RAPIDJSON_NAMESPACE_BEGIN +//! Size type (for string lengths, array sizes, etc.) +/*! RapidJSON uses 32-bit array/string indices even on 64-bit platforms, + instead of using \c size_t. Users may override the SizeType by defining + \ref RAPIDJSON_NO_SIZETYPEDEFINE. +*/ +typedef unsigned SizeType; +RAPIDJSON_NAMESPACE_END +#endif + +// always import std::size_t to rapidjson namespace +RAPIDJSON_NAMESPACE_BEGIN +using std::size_t; +RAPIDJSON_NAMESPACE_END + +/////////////////////////////////////////////////////////////////////////////// +// RAPIDJSON_ASSERT + +//! Assertion. +/*! \ingroup RAPIDJSON_CONFIG + By default, rapidjson uses C \c assert() for internal assertions. + User can override it by defining RAPIDJSON_ASSERT(x) macro. + + \note Parsing errors are handled and can be customized by the + \ref RAPIDJSON_ERRORS APIs. +*/ +#ifndef RAPIDJSON_ASSERT +#include +#define RAPIDJSON_ASSERT(x) assert(x) +#endif // RAPIDJSON_ASSERT + +/////////////////////////////////////////////////////////////////////////////// +// RAPIDJSON_STATIC_ASSERT + +// Prefer C++11 static_assert, if available +#ifndef RAPIDJSON_STATIC_ASSERT +#if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1800) +#define RAPIDJSON_STATIC_ASSERT(x) static_assert(x, RAPIDJSON_STRINGIFY(x)) +#endif // C++11 +#endif // RAPIDJSON_STATIC_ASSERT + +// Adopt C++03 implementation from boost +#ifndef RAPIDJSON_STATIC_ASSERT +#ifndef __clang__ +//!@cond RAPIDJSON_HIDDEN_FROM_DOXYGEN +#endif +RAPIDJSON_NAMESPACE_BEGIN +template +struct STATIC_ASSERTION_FAILURE; +template <> +struct STATIC_ASSERTION_FAILURE { + enum { value = 1 }; +}; +template +struct StaticAssertTest {}; +RAPIDJSON_NAMESPACE_END + +#if defined(__GNUC__) || defined(__clang__) +#define RAPIDJSON_STATIC_ASSERT_UNUSED_ATTRIBUTE __attribute__((unused)) +#else +#define RAPIDJSON_STATIC_ASSERT_UNUSED_ATTRIBUTE +#endif +#ifndef __clang__ +//!@endcond +#endif + +/*! \def RAPIDJSON_STATIC_ASSERT + \brief (Internal) macro to check for conditions at compile-time + \param x compile-time condition + \hideinitializer + */ +#define RAPIDJSON_STATIC_ASSERT(x) \ + typedef ::RAPIDJSON_NAMESPACE::StaticAssertTest)> \ + RAPIDJSON_JOIN(StaticAssertTypedef, __LINE__) \ + RAPIDJSON_STATIC_ASSERT_UNUSED_ATTRIBUTE +#endif // RAPIDJSON_STATIC_ASSERT + +/////////////////////////////////////////////////////////////////////////////// +// RAPIDJSON_LIKELY, RAPIDJSON_UNLIKELY + +//! Compiler branching hint for expression with high probability to be true. +/*! + \ingroup RAPIDJSON_CONFIG + \param x Boolean expression likely to be true. +*/ +#ifndef RAPIDJSON_LIKELY +#if defined(__GNUC__) || defined(__clang__) +#define RAPIDJSON_LIKELY(x) __builtin_expect(!!(x), 1) +#else +#define RAPIDJSON_LIKELY(x) (x) +#endif +#endif + +//! Compiler branching hint for expression with low probability to be true. +/*! + \ingroup RAPIDJSON_CONFIG + \param x Boolean expression unlikely to be true. +*/ +#ifndef RAPIDJSON_UNLIKELY +#if defined(__GNUC__) || defined(__clang__) +#define RAPIDJSON_UNLIKELY(x) __builtin_expect(!!(x), 0) +#else +#define RAPIDJSON_UNLIKELY(x) (x) +#endif +#endif + +/////////////////////////////////////////////////////////////////////////////// +// Helpers + +//!@cond RAPIDJSON_HIDDEN_FROM_DOXYGEN + +#define RAPIDJSON_MULTILINEMACRO_BEGIN do { +#define RAPIDJSON_MULTILINEMACRO_END \ + } \ + while ((void)0, 0) + +// adopted from Boost +#define RAPIDJSON_VERSION_CODE(x, y, z) (((x)*100000) + ((y)*100) + (z)) + +#if defined(__has_builtin) +#define RAPIDJSON_HAS_BUILTIN(x) __has_builtin(x) +#else +#define RAPIDJSON_HAS_BUILTIN(x) 0 +#endif + +/////////////////////////////////////////////////////////////////////////////// +// RAPIDJSON_DIAG_PUSH/POP, RAPIDJSON_DIAG_OFF + +#if defined(__GNUC__) +#define RAPIDJSON_GNUC \ + RAPIDJSON_VERSION_CODE(__GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__) +#endif + +#if defined(__clang__) || (defined(RAPIDJSON_GNUC) && \ + RAPIDJSON_GNUC >= RAPIDJSON_VERSION_CODE(4, 2, 0)) + +#define RAPIDJSON_PRAGMA(x) _Pragma(RAPIDJSON_STRINGIFY(x)) +#define RAPIDJSON_DIAG_PRAGMA(x) RAPIDJSON_PRAGMA(GCC diagnostic x) +#define RAPIDJSON_DIAG_OFF(x) \ + RAPIDJSON_DIAG_PRAGMA(ignored RAPIDJSON_STRINGIFY(RAPIDJSON_JOIN(-W, x))) + +// push/pop support in Clang and GCC>=4.6 +#if defined(__clang__) || (defined(RAPIDJSON_GNUC) && \ + RAPIDJSON_GNUC >= RAPIDJSON_VERSION_CODE(4, 6, 0)) +#define RAPIDJSON_DIAG_PUSH RAPIDJSON_DIAG_PRAGMA(push) +#define RAPIDJSON_DIAG_POP RAPIDJSON_DIAG_PRAGMA(pop) +#else // GCC >= 4.2, < 4.6 +#define RAPIDJSON_DIAG_PUSH /* ignored */ +#define RAPIDJSON_DIAG_POP /* ignored */ +#endif + +#elif defined(_MSC_VER) + +// pragma (MSVC specific) +#define RAPIDJSON_PRAGMA(x) __pragma(x) +#define RAPIDJSON_DIAG_PRAGMA(x) RAPIDJSON_PRAGMA(warning(x)) + +#define RAPIDJSON_DIAG_OFF(x) RAPIDJSON_DIAG_PRAGMA(disable : x) +#define RAPIDJSON_DIAG_PUSH RAPIDJSON_DIAG_PRAGMA(push) +#define RAPIDJSON_DIAG_POP RAPIDJSON_DIAG_PRAGMA(pop) + +#else + +#define RAPIDJSON_DIAG_OFF(x) /* ignored */ +#define RAPIDJSON_DIAG_PUSH /* ignored */ +#define RAPIDJSON_DIAG_POP /* ignored */ + +#endif // RAPIDJSON_DIAG_* + +/////////////////////////////////////////////////////////////////////////////// +// C++11 features + +#ifndef RAPIDJSON_HAS_CXX11_RVALUE_REFS +#if defined(__clang__) +#if __has_feature(cxx_rvalue_references) && \ + (defined(_MSC_VER) || defined(_LIBCPP_VERSION) || \ + defined(__GLIBCXX__) && __GLIBCXX__ >= 20080306) +#define RAPIDJSON_HAS_CXX11_RVALUE_REFS 1 +#else +#define RAPIDJSON_HAS_CXX11_RVALUE_REFS 0 +#endif +#elif (defined(RAPIDJSON_GNUC) && \ + (RAPIDJSON_GNUC >= RAPIDJSON_VERSION_CODE(4, 3, 0)) && \ + defined(__GXX_EXPERIMENTAL_CXX0X__)) || \ + (defined(_MSC_VER) && _MSC_VER >= 1600) || \ + (defined(__SUNPRO_CC) && __SUNPRO_CC >= 0x5140 && \ + defined(__GXX_EXPERIMENTAL_CXX0X__)) + +#define RAPIDJSON_HAS_CXX11_RVALUE_REFS 1 +#else +#define RAPIDJSON_HAS_CXX11_RVALUE_REFS 0 +#endif +#endif // RAPIDJSON_HAS_CXX11_RVALUE_REFS + +#ifndef RAPIDJSON_HAS_CXX11_NOEXCEPT +#if defined(__clang__) +#define RAPIDJSON_HAS_CXX11_NOEXCEPT __has_feature(cxx_noexcept) +#elif (defined(RAPIDJSON_GNUC) && \ + (RAPIDJSON_GNUC >= RAPIDJSON_VERSION_CODE(4, 6, 0)) && \ + defined(__GXX_EXPERIMENTAL_CXX0X__)) || \ + (defined(_MSC_VER) && _MSC_VER >= 1900) || \ + (defined(__SUNPRO_CC) && __SUNPRO_CC >= 0x5140 && \ + defined(__GXX_EXPERIMENTAL_CXX0X__)) +#define RAPIDJSON_HAS_CXX11_NOEXCEPT 1 +#else +#define RAPIDJSON_HAS_CXX11_NOEXCEPT 0 +#endif +#endif +#if RAPIDJSON_HAS_CXX11_NOEXCEPT +#define RAPIDJSON_NOEXCEPT noexcept +#else +#define RAPIDJSON_NOEXCEPT /* noexcept */ +#endif // RAPIDJSON_HAS_CXX11_NOEXCEPT + +// no automatic detection, yet +#ifndef RAPIDJSON_HAS_CXX11_TYPETRAITS +#if (defined(_MSC_VER) && _MSC_VER >= 1700) +#define RAPIDJSON_HAS_CXX11_TYPETRAITS 1 +#else +#define RAPIDJSON_HAS_CXX11_TYPETRAITS 0 +#endif +#endif + +#ifndef RAPIDJSON_HAS_CXX11_RANGE_FOR +#if defined(__clang__) +#define RAPIDJSON_HAS_CXX11_RANGE_FOR __has_feature(cxx_range_for) +#elif (defined(RAPIDJSON_GNUC) && \ + (RAPIDJSON_GNUC >= RAPIDJSON_VERSION_CODE(4, 6, 0)) && \ + defined(__GXX_EXPERIMENTAL_CXX0X__)) || \ + (defined(_MSC_VER) && _MSC_VER >= 1700) || \ + (defined(__SUNPRO_CC) && __SUNPRO_CC >= 0x5140 && \ + defined(__GXX_EXPERIMENTAL_CXX0X__)) +#define RAPIDJSON_HAS_CXX11_RANGE_FOR 1 +#else +#define RAPIDJSON_HAS_CXX11_RANGE_FOR 0 +#endif +#endif // RAPIDJSON_HAS_CXX11_RANGE_FOR + +/////////////////////////////////////////////////////////////////////////////// +// C++17 features + +#if defined(__has_cpp_attribute) +#if __has_cpp_attribute(fallthrough) +#define RAPIDJSON_DELIBERATE_FALLTHROUGH [[fallthrough]] +#else +#define RAPIDJSON_DELIBERATE_FALLTHROUGH +#endif +#else +#define RAPIDJSON_DELIBERATE_FALLTHROUGH +#endif + +//!@endcond + +//! Assertion (in non-throwing contexts). +/*! \ingroup RAPIDJSON_CONFIG + Some functions provide a \c noexcept guarantee, if the compiler supports it. + In these cases, the \ref RAPIDJSON_ASSERT macro cannot be overridden to + throw an exception. This macro adds a separate customization point for + such cases. + + Defaults to C \c assert() (as \ref RAPIDJSON_ASSERT), if \c noexcept is + supported, and to \ref RAPIDJSON_ASSERT otherwise. +*/ + +/////////////////////////////////////////////////////////////////////////////// +// RAPIDJSON_NOEXCEPT_ASSERT + +#ifndef RAPIDJSON_NOEXCEPT_ASSERT +#ifdef RAPIDJSON_ASSERT_THROWS +#if RAPIDJSON_HAS_CXX11_NOEXCEPT +#define RAPIDJSON_NOEXCEPT_ASSERT(x) +#else +#define RAPIDJSON_NOEXCEPT_ASSERT(x) RAPIDJSON_ASSERT(x) +#endif // RAPIDJSON_HAS_CXX11_NOEXCEPT +#else +#define RAPIDJSON_NOEXCEPT_ASSERT(x) RAPIDJSON_ASSERT(x) +#endif // RAPIDJSON_ASSERT_THROWS +#endif // RAPIDJSON_NOEXCEPT_ASSERT + +/////////////////////////////////////////////////////////////////////////////// +// new/delete + +#ifndef RAPIDJSON_NEW +///! customization point for global \c new +#define RAPIDJSON_NEW(TypeName) new TypeName +#endif +#ifndef RAPIDJSON_DELETE +///! customization point for global \c delete +#define RAPIDJSON_DELETE(x) delete x +#endif + +/////////////////////////////////////////////////////////////////////////////// +// Type + +/*! \namespace rapidjson + \brief main RapidJSON namespace + \see RAPIDJSON_NAMESPACE +*/ +RAPIDJSON_NAMESPACE_BEGIN + +//! Type of JSON value +enum Type { + kNullType = 0, //!< null + kFalseType = 1, //!< false + kTrueType = 2, //!< true + kObjectType = 3, //!< object + kArrayType = 4, //!< array + kStringType = 5, //!< string + kNumberType = 6 //!< number +}; + +RAPIDJSON_NAMESPACE_END + +#endif // RAPIDJSON_RAPIDJSON_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/reader.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/reader.h new file mode 100644 index 0000000..3a7203a --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/reader.h @@ -0,0 +1,2458 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_READER_H_ +#define RAPIDJSON_READER_H_ + +/*! \file reader.h */ + +#include +#include "allocators.h" +#include "encodedstream.h" +#include "internal/clzll.h" +#include "internal/meta.h" +#include "internal/stack.h" +#include "internal/strtod.h" +#include "stream.h" + +#if defined(RAPIDJSON_SIMD) && defined(_MSC_VER) +#include +#pragma intrinsic(_BitScanForward) +#endif +#ifdef RAPIDJSON_SSE42 +#include +#elif defined(RAPIDJSON_SSE2) +#include +#elif defined(RAPIDJSON_NEON) +#include +#endif + +#ifdef __clang__ +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(old - style - cast) +RAPIDJSON_DIAG_OFF(padded) +RAPIDJSON_DIAG_OFF(switch - enum) +#elif defined(_MSC_VER) +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(4127) // conditional expression is constant +RAPIDJSON_DIAG_OFF(4702) // unreachable code +#endif + +#ifdef __GNUC__ +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(effc++) +#endif + +//!@cond RAPIDJSON_HIDDEN_FROM_DOXYGEN +#define RAPIDJSON_NOTHING /* deliberately empty */ +#ifndef RAPIDJSON_PARSE_ERROR_EARLY_RETURN +#define RAPIDJSON_PARSE_ERROR_EARLY_RETURN(value) \ + RAPIDJSON_MULTILINEMACRO_BEGIN \ + if (RAPIDJSON_UNLIKELY(HasParseError())) { \ + return value; \ + } \ + RAPIDJSON_MULTILINEMACRO_END +#endif +#define RAPIDJSON_PARSE_ERROR_EARLY_RETURN_VOID \ + RAPIDJSON_PARSE_ERROR_EARLY_RETURN(RAPIDJSON_NOTHING) +//!@endcond + +/*! \def RAPIDJSON_PARSE_ERROR_NORETURN + \ingroup RAPIDJSON_ERRORS + \brief Macro to indicate a parse error. + \param parseErrorCode \ref rapidjson::ParseErrorCode of the error + \param offset position of the error in JSON input (\c size_t) + + This macros can be used as a customization point for the internal + error handling mechanism of RapidJSON. + + A common usage model is to throw an exception instead of requiring the + caller to explicitly check the \ref rapidjson::GenericReader::Parse's + return value: + + \code + #define RAPIDJSON_PARSE_ERROR_NORETURN(parseErrorCode,offset) \ + throw ParseException(parseErrorCode, #parseErrorCode, offset) + + #include // std::runtime_error + #include "rapidjson/error/error.h" // rapidjson::ParseResult + + struct ParseException : std::runtime_error, rapidjson::ParseResult { + ParseException(rapidjson::ParseErrorCode code, const char* msg, size_t + offset) : std::runtime_error(msg), ParseResult(code, offset) {} + }; + + #include "rapidjson/reader.h" + \endcode + + \see RAPIDJSON_PARSE_ERROR, rapidjson::GenericReader::Parse + */ +#ifndef RAPIDJSON_PARSE_ERROR_NORETURN +#define RAPIDJSON_PARSE_ERROR_NORETURN(parseErrorCode, offset) \ + RAPIDJSON_MULTILINEMACRO_BEGIN \ + RAPIDJSON_ASSERT(!HasParseError()); /* Error can only be assigned once */ \ + SetParseError(parseErrorCode, offset); \ + RAPIDJSON_MULTILINEMACRO_END +#endif + +/*! \def RAPIDJSON_PARSE_ERROR + \ingroup RAPIDJSON_ERRORS + \brief (Internal) macro to indicate and handle a parse error. + \param parseErrorCode \ref rapidjson::ParseErrorCode of the error + \param offset position of the error in JSON input (\c size_t) + + Invokes RAPIDJSON_PARSE_ERROR_NORETURN and stops the parsing. + + \see RAPIDJSON_PARSE_ERROR_NORETURN + \hideinitializer + */ +#ifndef RAPIDJSON_PARSE_ERROR +#define RAPIDJSON_PARSE_ERROR(parseErrorCode, offset) \ + RAPIDJSON_MULTILINEMACRO_BEGIN \ + RAPIDJSON_PARSE_ERROR_NORETURN(parseErrorCode, offset); \ + RAPIDJSON_PARSE_ERROR_EARLY_RETURN_VOID; \ + RAPIDJSON_MULTILINEMACRO_END +#endif + +#include "error/error.h" // ParseErrorCode, ParseResult + +RAPIDJSON_NAMESPACE_BEGIN + +/////////////////////////////////////////////////////////////////////////////// +// ParseFlag + +/*! \def RAPIDJSON_PARSE_DEFAULT_FLAGS + \ingroup RAPIDJSON_CONFIG + \brief User-defined kParseDefaultFlags definition. + + User can define this as any \c ParseFlag combinations. +*/ +#ifndef RAPIDJSON_PARSE_DEFAULT_FLAGS +#define RAPIDJSON_PARSE_DEFAULT_FLAGS kParseNoFlags +#endif + +//! Combination of parseFlags +/*! \see Reader::Parse, Document::Parse, Document::ParseInsitu, + * Document::ParseStream + */ +enum ParseFlag { + kParseNoFlags = 0, //!< No flags are set. + kParseInsituFlag = 1, //!< In-situ(destructive) parsing. + kParseValidateEncodingFlag = 2, //!< Validate encoding of JSON strings. + kParseIterativeFlag = 4, //!< Iterative(constant complexity in terms of + //!< function call stack size) parsing. + kParseStopWhenDoneFlag = + 8, //!< After parsing a complete JSON root from stream, stop further + //!< processing the rest of stream. When this flag is used, parser will + //!< not generate kParseErrorDocumentRootNotSingular error. + kParseFullPrecisionFlag = + 16, //!< Parse number in full precision (but slower). + kParseCommentsFlag = + 32, //!< Allow one-line (//) and multi-line (/**/) comments. + kParseNumbersAsStringsFlag = + 64, //!< Parse all numbers (ints/doubles) as strings. + kParseTrailingCommasFlag = + 128, //!< Allow trailing commas at the end of objects and arrays. + kParseNanAndInfFlag = 256, //!< Allow parsing NaN, Inf, Infinity, -Inf and + //!-Infinity as doubles. + kParseDefaultFlags = + RAPIDJSON_PARSE_DEFAULT_FLAGS //!< Default parse flags. Can be customized + //!< by defining + //!< RAPIDJSON_PARSE_DEFAULT_FLAGS +}; + +/////////////////////////////////////////////////////////////////////////////// +// Handler + +/*! \class rapidjson::Handler + \brief Concept for receiving events from GenericReader upon parsing. + The functions return true if no error occurs. If they return false, + the event publisher should terminate the process. +\code +concept Handler { + typename Ch; + + bool Null(); + bool Bool(bool b); + bool Int(int i); + bool Uint(unsigned i); + bool Int64(int64_t i); + bool Uint64(uint64_t i); + bool Double(double d); + /// enabled via kParseNumbersAsStringsFlag, string is not null-terminated +(use length) bool RawNumber(const Ch* str, SizeType length, bool copy); bool +String(const Ch* str, SizeType length, bool copy); bool StartObject(); bool +Key(const Ch* str, SizeType length, bool copy); bool EndObject(SizeType +memberCount); bool StartArray(); bool EndArray(SizeType elementCount); +}; +\endcode +*/ +/////////////////////////////////////////////////////////////////////////////// +// BaseReaderHandler + +//! Default implementation of Handler. +/*! This can be used as base class of any reader handler. + \note implements Handler concept +*/ +template , typename Derived = void> +struct BaseReaderHandler { + typedef typename Encoding::Ch Ch; + + typedef + typename internal::SelectIf, + BaseReaderHandler, Derived>::Type Override; + + bool Default() { return true; } + bool Null() { return static_cast(*this).Default(); } + bool Bool(bool) { return static_cast(*this).Default(); } + bool Int(int) { return static_cast(*this).Default(); } + bool Uint(unsigned) { return static_cast(*this).Default(); } + bool Int64(int64_t) { return static_cast(*this).Default(); } + bool Uint64(uint64_t) { return static_cast(*this).Default(); } + bool Double(double) { return static_cast(*this).Default(); } + /// enabled via kParseNumbersAsStringsFlag, string is not null-terminated (use + /// length) + bool RawNumber(const Ch *str, SizeType len, bool copy) { + return static_cast(*this).String(str, len, copy); + } + bool String(const Ch *, SizeType, bool) { + return static_cast(*this).Default(); + } + bool StartObject() { return static_cast(*this).Default(); } + bool Key(const Ch *str, SizeType len, bool copy) { + return static_cast(*this).String(str, len, copy); + } + bool EndObject(SizeType) { return static_cast(*this).Default(); } + bool StartArray() { return static_cast(*this).Default(); } + bool EndArray(SizeType) { return static_cast(*this).Default(); } +}; + +/////////////////////////////////////////////////////////////////////////////// +// StreamLocalCopy + +namespace internal { + +template ::copyOptimization> +class StreamLocalCopy; + +//! Do copy optimization. +template +class StreamLocalCopy { + public: + StreamLocalCopy(Stream &original) : s(original), original_(original) {} + ~StreamLocalCopy() { original_ = s; } + + Stream s; + + private: + StreamLocalCopy &operator=(const StreamLocalCopy &) /* = delete */; + + Stream &original_; +}; + +//! Keep reference. +template +class StreamLocalCopy { + public: + StreamLocalCopy(Stream &original) : s(original) {} + + Stream &s; + + private: + StreamLocalCopy &operator=(const StreamLocalCopy &) /* = delete */; +}; + +} // namespace internal + +/////////////////////////////////////////////////////////////////////////////// +// SkipWhitespace + +//! Skip the JSON white spaces in a stream. +/*! \param is A input stream for skipping white spaces. + \note This function has SSE2/SSE4.2 specialization. +*/ +template +void SkipWhitespace(InputStream &is) { + internal::StreamLocalCopy copy(is); + InputStream &s(copy.s); + + typename InputStream::Ch c; + while ((c = s.Peek()) == ' ' || c == '\n' || c == '\r' || c == '\t') s.Take(); +} + +inline const char *SkipWhitespace(const char *p, const char *end) { + while (p != end && (*p == ' ' || *p == '\n' || *p == '\r' || *p == '\t')) ++p; + return p; +} + +#ifdef RAPIDJSON_SSE42 +//! Skip whitespace with SSE 4.2 pcmpistrm instruction, testing 16 8-byte +//! characters at once. +inline const char *SkipWhitespace_SIMD(const char *p) { + // Fast return for single non-whitespace + if (*p == ' ' || *p == '\n' || *p == '\r' || *p == '\t') + ++p; + else + return p; + + // 16-byte align to the next boundary + const char *nextAligned = reinterpret_cast( + (reinterpret_cast(p) + 15) & static_cast(~15)); + while (p != nextAligned) + if (*p == ' ' || *p == '\n' || *p == '\r' || *p == '\t') + ++p; + else + return p; + + // The rest of string using SIMD + static const char whitespace[16] = " \n\r\t"; + const __m128i w = + _mm_loadu_si128(reinterpret_cast(&whitespace[0])); + + for (;; p += 16) { + const __m128i s = _mm_load_si128(reinterpret_cast(p)); + const int r = _mm_cmpistri(w, s, _SIDD_UBYTE_OPS | _SIDD_CMP_EQUAL_ANY | + _SIDD_LEAST_SIGNIFICANT | + _SIDD_NEGATIVE_POLARITY); + if (r != 16) // some of characters is non-whitespace + return p + r; + } +} + +inline const char *SkipWhitespace_SIMD(const char *p, const char *end) { + // Fast return for single non-whitespace + if (p != end && (*p == ' ' || *p == '\n' || *p == '\r' || *p == '\t')) + ++p; + else + return p; + + // The middle of string using SIMD + static const char whitespace[16] = " \n\r\t"; + const __m128i w = + _mm_loadu_si128(reinterpret_cast(&whitespace[0])); + + for (; p <= end - 16; p += 16) { + const __m128i s = _mm_loadu_si128(reinterpret_cast(p)); + const int r = _mm_cmpistri(w, s, _SIDD_UBYTE_OPS | _SIDD_CMP_EQUAL_ANY | + _SIDD_LEAST_SIGNIFICANT | + _SIDD_NEGATIVE_POLARITY); + if (r != 16) // some of characters is non-whitespace + return p + r; + } + + return SkipWhitespace(p, end); +} + +#elif defined(RAPIDJSON_SSE2) + +//! Skip whitespace with SSE2 instructions, testing 16 8-byte characters at +//! once. +inline const char *SkipWhitespace_SIMD(const char *p) { + // Fast return for single non-whitespace + if (*p == ' ' || *p == '\n' || *p == '\r' || *p == '\t') + ++p; + else + return p; + + // 16-byte align to the next boundary + const char *nextAligned = reinterpret_cast( + (reinterpret_cast(p) + 15) & static_cast(~15)); + while (p != nextAligned) + if (*p == ' ' || *p == '\n' || *p == '\r' || *p == '\t') + ++p; + else + return p; + +// The rest of string +#define C16(c) \ + { c, c, c, c, c, c, c, c, c, c, c, c, c, c, c, c } + static const char whitespaces[4][16] = {C16(' '), C16('\n'), C16('\r'), + C16('\t')}; +#undef C16 + + const __m128i w0 = + _mm_loadu_si128(reinterpret_cast(&whitespaces[0][0])); + const __m128i w1 = + _mm_loadu_si128(reinterpret_cast(&whitespaces[1][0])); + const __m128i w2 = + _mm_loadu_si128(reinterpret_cast(&whitespaces[2][0])); + const __m128i w3 = + _mm_loadu_si128(reinterpret_cast(&whitespaces[3][0])); + + for (;; p += 16) { + const __m128i s = _mm_load_si128(reinterpret_cast(p)); + __m128i x = _mm_cmpeq_epi8(s, w0); + x = _mm_or_si128(x, _mm_cmpeq_epi8(s, w1)); + x = _mm_or_si128(x, _mm_cmpeq_epi8(s, w2)); + x = _mm_or_si128(x, _mm_cmpeq_epi8(s, w3)); + unsigned short r = static_cast(~_mm_movemask_epi8(x)); + if (r != 0) { // some of characters may be non-whitespace +#ifdef _MSC_VER // Find the index of first non-whitespace + unsigned long offset; + _BitScanForward(&offset, r); + return p + offset; +#else + return p + __builtin_ffs(r) - 1; +#endif + } + } +} + +inline const char *SkipWhitespace_SIMD(const char *p, const char *end) { + // Fast return for single non-whitespace + if (p != end && (*p == ' ' || *p == '\n' || *p == '\r' || *p == '\t')) + ++p; + else + return p; + +// The rest of string +#define C16(c) \ + { c, c, c, c, c, c, c, c, c, c, c, c, c, c, c, c } + static const char whitespaces[4][16] = {C16(' '), C16('\n'), C16('\r'), + C16('\t')}; +#undef C16 + + const __m128i w0 = + _mm_loadu_si128(reinterpret_cast(&whitespaces[0][0])); + const __m128i w1 = + _mm_loadu_si128(reinterpret_cast(&whitespaces[1][0])); + const __m128i w2 = + _mm_loadu_si128(reinterpret_cast(&whitespaces[2][0])); + const __m128i w3 = + _mm_loadu_si128(reinterpret_cast(&whitespaces[3][0])); + + for (; p <= end - 16; p += 16) { + const __m128i s = _mm_loadu_si128(reinterpret_cast(p)); + __m128i x = _mm_cmpeq_epi8(s, w0); + x = _mm_or_si128(x, _mm_cmpeq_epi8(s, w1)); + x = _mm_or_si128(x, _mm_cmpeq_epi8(s, w2)); + x = _mm_or_si128(x, _mm_cmpeq_epi8(s, w3)); + unsigned short r = static_cast(~_mm_movemask_epi8(x)); + if (r != 0) { // some of characters may be non-whitespace +#ifdef _MSC_VER // Find the index of first non-whitespace + unsigned long offset; + _BitScanForward(&offset, r); + return p + offset; +#else + return p + __builtin_ffs(r) - 1; +#endif + } + } + + return SkipWhitespace(p, end); +} + +#elif defined(RAPIDJSON_NEON) + +//! Skip whitespace with ARM Neon instructions, testing 16 8-byte characters at +//! once. +inline const char *SkipWhitespace_SIMD(const char *p) { + // Fast return for single non-whitespace + if (*p == ' ' || *p == '\n' || *p == '\r' || *p == '\t') + ++p; + else + return p; + + // 16-byte align to the next boundary + const char *nextAligned = reinterpret_cast( + (reinterpret_cast(p) + 15) & static_cast(~15)); + while (p != nextAligned) + if (*p == ' ' || *p == '\n' || *p == '\r' || *p == '\t') + ++p; + else + return p; + + const uint8x16_t w0 = vmovq_n_u8(' '); + const uint8x16_t w1 = vmovq_n_u8('\n'); + const uint8x16_t w2 = vmovq_n_u8('\r'); + const uint8x16_t w3 = vmovq_n_u8('\t'); + + for (;; p += 16) { + const uint8x16_t s = vld1q_u8(reinterpret_cast(p)); + uint8x16_t x = vceqq_u8(s, w0); + x = vorrq_u8(x, vceqq_u8(s, w1)); + x = vorrq_u8(x, vceqq_u8(s, w2)); + x = vorrq_u8(x, vceqq_u8(s, w3)); + + x = vmvnq_u8(x); // Negate + x = vrev64q_u8(x); // Rev in 64 + uint64_t low = vgetq_lane_u64(vreinterpretq_u64_u8(x), 0); // extract + uint64_t high = vgetq_lane_u64(vreinterpretq_u64_u8(x), 1); // extract + + if (low == 0) { + if (high != 0) { + uint32_t lz = RAPIDJSON_CLZLL(high); + return p + 8 + (lz >> 3); + } + } else { + uint32_t lz = RAPIDJSON_CLZLL(low); + return p + (lz >> 3); + } + } +} + +inline const char *SkipWhitespace_SIMD(const char *p, const char *end) { + // Fast return for single non-whitespace + if (p != end && (*p == ' ' || *p == '\n' || *p == '\r' || *p == '\t')) + ++p; + else + return p; + + const uint8x16_t w0 = vmovq_n_u8(' '); + const uint8x16_t w1 = vmovq_n_u8('\n'); + const uint8x16_t w2 = vmovq_n_u8('\r'); + const uint8x16_t w3 = vmovq_n_u8('\t'); + + for (; p <= end - 16; p += 16) { + const uint8x16_t s = vld1q_u8(reinterpret_cast(p)); + uint8x16_t x = vceqq_u8(s, w0); + x = vorrq_u8(x, vceqq_u8(s, w1)); + x = vorrq_u8(x, vceqq_u8(s, w2)); + x = vorrq_u8(x, vceqq_u8(s, w3)); + + x = vmvnq_u8(x); // Negate + x = vrev64q_u8(x); // Rev in 64 + uint64_t low = vgetq_lane_u64(vreinterpretq_u64_u8(x), 0); // extract + uint64_t high = vgetq_lane_u64(vreinterpretq_u64_u8(x), 1); // extract + + if (low == 0) { + if (high != 0) { + uint32_t lz = RAPIDJSON_CLZLL(high); + return p + 8 + (lz >> 3); + } + } else { + uint32_t lz = RAPIDJSON_CLZLL(low); + return p + (lz >> 3); + } + } + + return SkipWhitespace(p, end); +} + +#endif // RAPIDJSON_NEON + +#ifdef RAPIDJSON_SIMD +//! Template function specialization for InsituStringStream +template <> +inline void SkipWhitespace(InsituStringStream &is) { + is.src_ = const_cast(SkipWhitespace_SIMD(is.src_)); +} + +//! Template function specialization for StringStream +template <> +inline void SkipWhitespace(StringStream &is) { + is.src_ = SkipWhitespace_SIMD(is.src_); +} + +template <> +inline void SkipWhitespace(EncodedInputStream, MemoryStream> &is) { + is.is_.src_ = SkipWhitespace_SIMD(is.is_.src_, is.is_.end_); +} +#endif // RAPIDJSON_SIMD + +/////////////////////////////////////////////////////////////////////////////// +// GenericReader + +//! SAX-style JSON parser. Use \ref Reader for UTF8 encoding and default +//! allocator. +/*! GenericReader parses JSON text from a stream, and send events synchronously + to an object implementing Handler concept. + + It needs to allocate a stack for storing a single decoded string during + non-destructive parsing. + + For in-situ parsing, the decoded string is directly written to the source + text string, no temporary buffer is required. + + A GenericReader object can be reused for parsing multiple JSON text. + + \tparam SourceEncoding Encoding of the input stream. + \tparam TargetEncoding Encoding of the parse output. + \tparam StackAllocator Allocator type for stack. +*/ +template +class GenericReader { + public: + typedef typename SourceEncoding::Ch Ch; //!< SourceEncoding character type + + //! Constructor. + /*! \param stackAllocator Optional allocator for allocating stack memory. + (Only use for non-destructive parsing) \param stackCapacity stack capacity + in bytes for storing a single decoded string. (Only use for + non-destructive parsing) + */ + GenericReader(StackAllocator *stackAllocator = 0, + size_t stackCapacity = kDefaultStackCapacity) + : stack_(stackAllocator, stackCapacity), + parseResult_(), + state_(IterativeParsingStartState) {} + + //! Parse JSON text. + /*! \tparam parseFlags Combination of \ref ParseFlag. + \tparam InputStream Type of input stream, implementing Stream concept. + \tparam Handler Type of handler, implementing Handler concept. + \param is Input stream to be parsed. + \param handler The handler to receive events. + \return Whether the parsing is successful. + */ + template + ParseResult Parse(InputStream &is, Handler &handler) { + if (parseFlags & kParseIterativeFlag) + return IterativeParse(is, handler); + + parseResult_.Clear(); + + ClearStackOnExit scope(*this); + + SkipWhitespaceAndComments(is); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN(parseResult_); + + if (RAPIDJSON_UNLIKELY(is.Peek() == '\0')) { + RAPIDJSON_PARSE_ERROR_NORETURN(kParseErrorDocumentEmpty, is.Tell()); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN(parseResult_); + } else { + ParseValue(is, handler); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN(parseResult_); + + if (!(parseFlags & kParseStopWhenDoneFlag)) { + SkipWhitespaceAndComments(is); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN(parseResult_); + + if (RAPIDJSON_UNLIKELY(is.Peek() != '\0')) { + RAPIDJSON_PARSE_ERROR_NORETURN(kParseErrorDocumentRootNotSingular, + is.Tell()); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN(parseResult_); + } + } + } + + return parseResult_; + } + + //! Parse JSON text (with \ref kParseDefaultFlags) + /*! \tparam InputStream Type of input stream, implementing Stream concept + \tparam Handler Type of handler, implementing Handler concept. + \param is Input stream to be parsed. + \param handler The handler to receive events. + \return Whether the parsing is successful. + */ + template + ParseResult Parse(InputStream &is, Handler &handler) { + return Parse(is, handler); + } + + //! Initialize JSON text token-by-token parsing + /*! + */ + void IterativeParseInit() { + parseResult_.Clear(); + state_ = IterativeParsingStartState; + } + + //! Parse one token from JSON text + /*! \tparam InputStream Type of input stream, implementing Stream concept + \tparam Handler Type of handler, implementing Handler concept. + \param is Input stream to be parsed. + \param handler The handler to receive events. + \return Whether the parsing is successful. + */ + template + bool IterativeParseNext(InputStream &is, Handler &handler) { + while (RAPIDJSON_LIKELY(is.Peek() != '\0')) { + SkipWhitespaceAndComments(is); + + Token t = Tokenize(is.Peek()); + IterativeParsingState n = Predict(state_, t); + IterativeParsingState d = Transit(state_, t, n, is, handler); + + // If we've finished or hit an error... + if (RAPIDJSON_UNLIKELY(IsIterativeParsingCompleteState(d))) { + // Report errors. + if (d == IterativeParsingErrorState) { + HandleError(state_, is); + return false; + } + + // Transition to the finish state. + RAPIDJSON_ASSERT(d == IterativeParsingFinishState); + state_ = d; + + // If StopWhenDone is not set... + if (!(parseFlags & kParseStopWhenDoneFlag)) { + // ... and extra non-whitespace data is found... + SkipWhitespaceAndComments(is); + if (is.Peek() != '\0') { + // ... this is considered an error. + HandleError(state_, is); + return false; + } + } + + // Success! We are done! + return true; + } + + // Transition to the new state. + state_ = d; + + // If we parsed anything other than a delimiter, we invoked the handler, + // so we can return true now. + if (!IsIterativeParsingDelimiterState(n)) return true; + } + + // We reached the end of file. + stack_.Clear(); + + if (state_ != IterativeParsingFinishState) { + HandleError(state_, is); + return false; + } + + return true; + } + + //! Check if token-by-token parsing JSON text is complete + /*! \return Whether the JSON has been fully decoded. + */ + RAPIDJSON_FORCEINLINE bool IterativeParseComplete() const { + return IsIterativeParsingCompleteState(state_); + } + + //! Whether a parse error has occurred in the last parsing. + bool HasParseError() const { return parseResult_.IsError(); } + + //! Get the \ref ParseErrorCode of last parsing. + ParseErrorCode GetParseErrorCode() const { return parseResult_.Code(); } + + //! Get the position of last parsing error in input, 0 otherwise. + size_t GetErrorOffset() const { return parseResult_.Offset(); } + + protected: + void SetParseError(ParseErrorCode code, size_t offset) { + parseResult_.Set(code, offset); + } + + private: + // Prohibit copy constructor & assignment operator. + GenericReader(const GenericReader &); + GenericReader &operator=(const GenericReader &); + + void ClearStack() { stack_.Clear(); } + + // clear stack on any exit from ParseStream, e.g. due to exception + struct ClearStackOnExit { + explicit ClearStackOnExit(GenericReader &r) : r_(r) {} + ~ClearStackOnExit() { r_.ClearStack(); } + + private: + GenericReader &r_; + ClearStackOnExit(const ClearStackOnExit &); + ClearStackOnExit &operator=(const ClearStackOnExit &); + }; + + template + void SkipWhitespaceAndComments(InputStream &is) { + SkipWhitespace(is); + + if (parseFlags & kParseCommentsFlag) { + while (RAPIDJSON_UNLIKELY(Consume(is, '/'))) { + if (Consume(is, '*')) { + while (true) { + if (RAPIDJSON_UNLIKELY(is.Peek() == '\0')) + RAPIDJSON_PARSE_ERROR(kParseErrorUnspecificSyntaxError, + is.Tell()); + else if (Consume(is, '*')) { + if (Consume(is, '/')) break; + } else + is.Take(); + } + } else if (RAPIDJSON_LIKELY(Consume(is, '/'))) + while (is.Peek() != '\0' && is.Take() != '\n') { + } + else + RAPIDJSON_PARSE_ERROR(kParseErrorUnspecificSyntaxError, is.Tell()); + + SkipWhitespace(is); + } + } + } + + // Parse object: { string : value, ... } + template + void ParseObject(InputStream &is, Handler &handler) { + RAPIDJSON_ASSERT(is.Peek() == '{'); + is.Take(); // Skip '{' + + if (RAPIDJSON_UNLIKELY(!handler.StartObject())) + RAPIDJSON_PARSE_ERROR(kParseErrorTermination, is.Tell()); + + SkipWhitespaceAndComments(is); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN_VOID; + + if (Consume(is, '}')) { + if (RAPIDJSON_UNLIKELY(!handler.EndObject(0))) // empty object + RAPIDJSON_PARSE_ERROR(kParseErrorTermination, is.Tell()); + return; + } + + for (SizeType memberCount = 0;;) { + if (RAPIDJSON_UNLIKELY(is.Peek() != '"')) + RAPIDJSON_PARSE_ERROR(kParseErrorObjectMissName, is.Tell()); + + ParseString(is, handler, true); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN_VOID; + + SkipWhitespaceAndComments(is); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN_VOID; + + if (RAPIDJSON_UNLIKELY(!Consume(is, ':'))) + RAPIDJSON_PARSE_ERROR(kParseErrorObjectMissColon, is.Tell()); + + SkipWhitespaceAndComments(is); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN_VOID; + + ParseValue(is, handler); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN_VOID; + + SkipWhitespaceAndComments(is); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN_VOID; + + ++memberCount; + + switch (is.Peek()) { + case ',': + is.Take(); + SkipWhitespaceAndComments(is); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN_VOID; + break; + case '}': + is.Take(); + if (RAPIDJSON_UNLIKELY(!handler.EndObject(memberCount))) + RAPIDJSON_PARSE_ERROR(kParseErrorTermination, is.Tell()); + return; + default: + RAPIDJSON_PARSE_ERROR(kParseErrorObjectMissCommaOrCurlyBracket, + is.Tell()); + break; // This useless break is only for making warning and coverage + // happy + } + + if (parseFlags & kParseTrailingCommasFlag) { + if (is.Peek() == '}') { + if (RAPIDJSON_UNLIKELY(!handler.EndObject(memberCount))) + RAPIDJSON_PARSE_ERROR(kParseErrorTermination, is.Tell()); + is.Take(); + return; + } + } + } + } + + // Parse array: [ value, ... ] + template + void ParseArray(InputStream &is, Handler &handler) { + RAPIDJSON_ASSERT(is.Peek() == '['); + is.Take(); // Skip '[' + + if (RAPIDJSON_UNLIKELY(!handler.StartArray())) + RAPIDJSON_PARSE_ERROR(kParseErrorTermination, is.Tell()); + + SkipWhitespaceAndComments(is); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN_VOID; + + if (Consume(is, ']')) { + if (RAPIDJSON_UNLIKELY(!handler.EndArray(0))) // empty array + RAPIDJSON_PARSE_ERROR(kParseErrorTermination, is.Tell()); + return; + } + + for (SizeType elementCount = 0;;) { + ParseValue(is, handler); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN_VOID; + + ++elementCount; + SkipWhitespaceAndComments(is); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN_VOID; + + if (Consume(is, ',')) { + SkipWhitespaceAndComments(is); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN_VOID; + } else if (Consume(is, ']')) { + if (RAPIDJSON_UNLIKELY(!handler.EndArray(elementCount))) + RAPIDJSON_PARSE_ERROR(kParseErrorTermination, is.Tell()); + return; + } else + RAPIDJSON_PARSE_ERROR(kParseErrorArrayMissCommaOrSquareBracket, + is.Tell()); + + if (parseFlags & kParseTrailingCommasFlag) { + if (is.Peek() == ']') { + if (RAPIDJSON_UNLIKELY(!handler.EndArray(elementCount))) + RAPIDJSON_PARSE_ERROR(kParseErrorTermination, is.Tell()); + is.Take(); + return; + } + } + } + } + + template + void ParseNull(InputStream &is, Handler &handler) { + RAPIDJSON_ASSERT(is.Peek() == 'n'); + is.Take(); + + if (RAPIDJSON_LIKELY(Consume(is, 'u') && Consume(is, 'l') && + Consume(is, 'l'))) { + if (RAPIDJSON_UNLIKELY(!handler.Null())) + RAPIDJSON_PARSE_ERROR(kParseErrorTermination, is.Tell()); + } else + RAPIDJSON_PARSE_ERROR(kParseErrorValueInvalid, is.Tell()); + } + + template + void ParseTrue(InputStream &is, Handler &handler) { + RAPIDJSON_ASSERT(is.Peek() == 't'); + is.Take(); + + if (RAPIDJSON_LIKELY(Consume(is, 'r') && Consume(is, 'u') && + Consume(is, 'e'))) { + if (RAPIDJSON_UNLIKELY(!handler.Bool(true))) + RAPIDJSON_PARSE_ERROR(kParseErrorTermination, is.Tell()); + } else + RAPIDJSON_PARSE_ERROR(kParseErrorValueInvalid, is.Tell()); + } + + template + void ParseFalse(InputStream &is, Handler &handler) { + RAPIDJSON_ASSERT(is.Peek() == 'f'); + is.Take(); + + if (RAPIDJSON_LIKELY(Consume(is, 'a') && Consume(is, 'l') && + Consume(is, 's') && Consume(is, 'e'))) { + if (RAPIDJSON_UNLIKELY(!handler.Bool(false))) + RAPIDJSON_PARSE_ERROR(kParseErrorTermination, is.Tell()); + } else + RAPIDJSON_PARSE_ERROR(kParseErrorValueInvalid, is.Tell()); + } + + template + RAPIDJSON_FORCEINLINE static bool Consume(InputStream &is, + typename InputStream::Ch expect) { + if (RAPIDJSON_LIKELY(is.Peek() == expect)) { + is.Take(); + return true; + } else + return false; + } + + // Helper function to parse four hexadecimal digits in \uXXXX in + // ParseString(). + template + unsigned ParseHex4(InputStream &is, size_t escapeOffset) { + unsigned codepoint = 0; + for (int i = 0; i < 4; i++) { + Ch c = is.Peek(); + codepoint <<= 4; + codepoint += static_cast(c); + if (c >= '0' && c <= '9') + codepoint -= '0'; + else if (c >= 'A' && c <= 'F') + codepoint -= 'A' - 10; + else if (c >= 'a' && c <= 'f') + codepoint -= 'a' - 10; + else { + RAPIDJSON_PARSE_ERROR_NORETURN(kParseErrorStringUnicodeEscapeInvalidHex, + escapeOffset); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN(0); + } + is.Take(); + } + return codepoint; + } + + template + class StackStream { + public: + typedef CharType Ch; + + StackStream(internal::Stack &stack) + : stack_(stack), length_(0) {} + RAPIDJSON_FORCEINLINE void Put(Ch c) { + *stack_.template Push() = c; + ++length_; + } + + RAPIDJSON_FORCEINLINE void *Push(SizeType count) { + length_ += count; + return stack_.template Push(count); + } + + size_t Length() const { return length_; } + + Ch *Pop() { return stack_.template Pop(length_); } + + private: + StackStream(const StackStream &); + StackStream &operator=(const StackStream &); + + internal::Stack &stack_; + SizeType length_; + }; + + // Parse string and generate String event. Different code paths for + // kParseInsituFlag. + template + void ParseString(InputStream &is, Handler &handler, bool isKey = false) { + internal::StreamLocalCopy copy(is); + InputStream &s(copy.s); + + RAPIDJSON_ASSERT(s.Peek() == '\"'); + s.Take(); // Skip '\"' + + bool success = false; + if (parseFlags & kParseInsituFlag) { + typename InputStream::Ch *head = s.PutBegin(); + ParseStringToStream(s, s); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN_VOID; + size_t length = s.PutEnd(head) - 1; + RAPIDJSON_ASSERT(length <= 0xFFFFFFFF); + const typename TargetEncoding::Ch *const str = + reinterpret_cast(head); + success = (isKey ? handler.Key(str, SizeType(length), false) + : handler.String(str, SizeType(length), false)); + } else { + StackStream stackStream(stack_); + ParseStringToStream( + s, stackStream); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN_VOID; + SizeType length = static_cast(stackStream.Length()) - 1; + const typename TargetEncoding::Ch *const str = stackStream.Pop(); + success = (isKey ? handler.Key(str, length, true) + : handler.String(str, length, true)); + } + if (RAPIDJSON_UNLIKELY(!success)) + RAPIDJSON_PARSE_ERROR(kParseErrorTermination, s.Tell()); + } + + // Parse string to an output is + // This function handles the prefix/suffix double quotes, escaping, and + // optional encoding validation. + template + RAPIDJSON_FORCEINLINE void ParseStringToStream(InputStream &is, + OutputStream &os) { +//!@cond RAPIDJSON_HIDDEN_FROM_DOXYGEN +#define Z16 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 + static const char escape[256] = { + Z16, Z16, 0, 0, '\"', 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, '/', Z16, Z16, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, '\\', 0, 0, 0, 0, 0, '\b', + 0, 0, 0, '\f', 0, 0, 0, 0, 0, 0, 0, '\n', 0, + 0, 0, '\r', 0, '\t', 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, Z16, Z16, Z16, Z16, Z16, Z16, Z16, Z16}; +#undef Z16 + //!@endcond + + for (;;) { + // Scan and copy string before "\\\"" or < 0x20. This is an optional + // optimzation. + if (!(parseFlags & kParseValidateEncodingFlag)) + ScanCopyUnescapedString(is, os); + + Ch c = is.Peek(); + if (RAPIDJSON_UNLIKELY(c == '\\')) { // Escape + size_t escapeOffset = is.Tell(); // For invalid escaping, report the + // initial '\\' as error offset + is.Take(); + Ch e = is.Peek(); + if ((sizeof(Ch) == 1 || unsigned(e) < 256) && + RAPIDJSON_LIKELY(escape[static_cast(e)])) { + is.Take(); + os.Put(static_cast( + escape[static_cast(e)])); + } else if (RAPIDJSON_LIKELY(e == 'u')) { // Unicode + is.Take(); + unsigned codepoint = ParseHex4(is, escapeOffset); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN_VOID; + if (RAPIDJSON_UNLIKELY(codepoint >= 0xD800 && codepoint <= 0xDBFF)) { + // Handle UTF-16 surrogate pair + if (RAPIDJSON_UNLIKELY(!Consume(is, '\\') || !Consume(is, 'u'))) + RAPIDJSON_PARSE_ERROR(kParseErrorStringUnicodeSurrogateInvalid, + escapeOffset); + unsigned codepoint2 = ParseHex4(is, escapeOffset); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN_VOID; + if (RAPIDJSON_UNLIKELY(codepoint2 < 0xDC00 || codepoint2 > 0xDFFF)) + RAPIDJSON_PARSE_ERROR(kParseErrorStringUnicodeSurrogateInvalid, + escapeOffset); + codepoint = (((codepoint - 0xD800) << 10) | (codepoint2 - 0xDC00)) + + 0x10000; + } + TEncoding::Encode(os, codepoint); + } else + RAPIDJSON_PARSE_ERROR(kParseErrorStringEscapeInvalid, escapeOffset); + } else if (RAPIDJSON_UNLIKELY(c == '"')) { // Closing double quote + is.Take(); + os.Put('\0'); // null-terminate the string + return; + } else if (RAPIDJSON_UNLIKELY(static_cast(c) < + 0x20)) { // RFC 4627: unescaped = %x20-21 / + // %x23-5B / %x5D-10FFFF + if (c == '\0') + RAPIDJSON_PARSE_ERROR(kParseErrorStringMissQuotationMark, is.Tell()); + else + RAPIDJSON_PARSE_ERROR(kParseErrorStringInvalidEncoding, is.Tell()); + } else { + size_t offset = is.Tell(); + if (RAPIDJSON_UNLIKELY( + (parseFlags & kParseValidateEncodingFlag + ? !Transcoder::Validate(is, os) + : !Transcoder::Transcode(is, os)))) + RAPIDJSON_PARSE_ERROR(kParseErrorStringInvalidEncoding, offset); + } + } + } + + template + static RAPIDJSON_FORCEINLINE void ScanCopyUnescapedString(InputStream &, + OutputStream &) { + // Do nothing for generic version + } + +#if defined(RAPIDJSON_SSE2) || defined(RAPIDJSON_SSE42) + // StringStream -> StackStream + static RAPIDJSON_FORCEINLINE void ScanCopyUnescapedString( + StringStream &is, StackStream &os) { + const char *p = is.src_; + + // Scan one by one until alignment (unaligned load may cross page boundary + // and cause crash) + const char *nextAligned = reinterpret_cast( + (reinterpret_cast(p) + 15) & static_cast(~15)); + while (p != nextAligned) + if (RAPIDJSON_UNLIKELY(*p == '\"') || RAPIDJSON_UNLIKELY(*p == '\\') || + RAPIDJSON_UNLIKELY(static_cast(*p) < 0x20)) { + is.src_ = p; + return; + } else + os.Put(*p++); + + // The rest of string using SIMD + static const char dquote[16] = {'\"', '\"', '\"', '\"', '\"', '\"', + '\"', '\"', '\"', '\"', '\"', '\"', + '\"', '\"', '\"', '\"'}; + static const char bslash[16] = {'\\', '\\', '\\', '\\', '\\', '\\', + '\\', '\\', '\\', '\\', '\\', '\\', + '\\', '\\', '\\', '\\'}; + static const char space[16] = {0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, + 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, + 0x1F, 0x1F, 0x1F, 0x1F}; + const __m128i dq = + _mm_loadu_si128(reinterpret_cast(&dquote[0])); + const __m128i bs = + _mm_loadu_si128(reinterpret_cast(&bslash[0])); + const __m128i sp = + _mm_loadu_si128(reinterpret_cast(&space[0])); + + for (;; p += 16) { + const __m128i s = _mm_load_si128(reinterpret_cast(p)); + const __m128i t1 = _mm_cmpeq_epi8(s, dq); + const __m128i t2 = _mm_cmpeq_epi8(s, bs); + const __m128i t3 = _mm_cmpeq_epi8( + _mm_max_epu8(s, sp), sp); // s < 0x20 <=> max(s, 0x1F) == 0x1F + const __m128i x = _mm_or_si128(_mm_or_si128(t1, t2), t3); + unsigned short r = static_cast(_mm_movemask_epi8(x)); + if (RAPIDJSON_UNLIKELY(r != 0)) { // some of characters is escaped + SizeType length; +#ifdef _MSC_VER // Find the index of first escaped + unsigned long offset; + _BitScanForward(&offset, r); + length = offset; +#else + length = static_cast(__builtin_ffs(r) - 1); +#endif + if (length != 0) { + char *q = reinterpret_cast(os.Push(length)); + for (size_t i = 0; i < length; i++) q[i] = p[i]; + + p += length; + } + break; + } + _mm_storeu_si128(reinterpret_cast<__m128i *>(os.Push(16)), s); + } + + is.src_ = p; + } + + // InsituStringStream -> InsituStringStream + static RAPIDJSON_FORCEINLINE void ScanCopyUnescapedString( + InsituStringStream &is, InsituStringStream &os) { + RAPIDJSON_ASSERT(&is == &os); + (void)os; + + if (is.src_ == is.dst_) { + SkipUnescapedString(is); + return; + } + + char *p = is.src_; + char *q = is.dst_; + + // Scan one by one until alignment (unaligned load may cross page boundary + // and cause crash) + const char *nextAligned = reinterpret_cast( + (reinterpret_cast(p) + 15) & static_cast(~15)); + while (p != nextAligned) + if (RAPIDJSON_UNLIKELY(*p == '\"') || RAPIDJSON_UNLIKELY(*p == '\\') || + RAPIDJSON_UNLIKELY(static_cast(*p) < 0x20)) { + is.src_ = p; + is.dst_ = q; + return; + } else + *q++ = *p++; + + // The rest of string using SIMD + static const char dquote[16] = {'\"', '\"', '\"', '\"', '\"', '\"', + '\"', '\"', '\"', '\"', '\"', '\"', + '\"', '\"', '\"', '\"'}; + static const char bslash[16] = {'\\', '\\', '\\', '\\', '\\', '\\', + '\\', '\\', '\\', '\\', '\\', '\\', + '\\', '\\', '\\', '\\'}; + static const char space[16] = {0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, + 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, + 0x1F, 0x1F, 0x1F, 0x1F}; + const __m128i dq = + _mm_loadu_si128(reinterpret_cast(&dquote[0])); + const __m128i bs = + _mm_loadu_si128(reinterpret_cast(&bslash[0])); + const __m128i sp = + _mm_loadu_si128(reinterpret_cast(&space[0])); + + for (;; p += 16, q += 16) { + const __m128i s = _mm_load_si128(reinterpret_cast(p)); + const __m128i t1 = _mm_cmpeq_epi8(s, dq); + const __m128i t2 = _mm_cmpeq_epi8(s, bs); + const __m128i t3 = _mm_cmpeq_epi8( + _mm_max_epu8(s, sp), sp); // s < 0x20 <=> max(s, 0x1F) == 0x1F + const __m128i x = _mm_or_si128(_mm_or_si128(t1, t2), t3); + unsigned short r = static_cast(_mm_movemask_epi8(x)); + if (RAPIDJSON_UNLIKELY(r != 0)) { // some of characters is escaped + size_t length; +#ifdef _MSC_VER // Find the index of first escaped + unsigned long offset; + _BitScanForward(&offset, r); + length = offset; +#else + length = static_cast(__builtin_ffs(r) - 1); +#endif + for (const char *pend = p + length; p != pend;) *q++ = *p++; + break; + } + _mm_storeu_si128(reinterpret_cast<__m128i *>(q), s); + } + + is.src_ = p; + is.dst_ = q; + } + + // When read/write pointers are the same for insitu stream, just skip + // unescaped characters + static RAPIDJSON_FORCEINLINE void SkipUnescapedString( + InsituStringStream &is) { + RAPIDJSON_ASSERT(is.src_ == is.dst_); + char *p = is.src_; + + // Scan one by one until alignment (unaligned load may cross page boundary + // and cause crash) + const char *nextAligned = reinterpret_cast( + (reinterpret_cast(p) + 15) & static_cast(~15)); + for (; p != nextAligned; p++) + if (RAPIDJSON_UNLIKELY(*p == '\"') || RAPIDJSON_UNLIKELY(*p == '\\') || + RAPIDJSON_UNLIKELY(static_cast(*p) < 0x20)) { + is.src_ = is.dst_ = p; + return; + } + + // The rest of string using SIMD + static const char dquote[16] = {'\"', '\"', '\"', '\"', '\"', '\"', + '\"', '\"', '\"', '\"', '\"', '\"', + '\"', '\"', '\"', '\"'}; + static const char bslash[16] = {'\\', '\\', '\\', '\\', '\\', '\\', + '\\', '\\', '\\', '\\', '\\', '\\', + '\\', '\\', '\\', '\\'}; + static const char space[16] = {0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, + 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, + 0x1F, 0x1F, 0x1F, 0x1F}; + const __m128i dq = + _mm_loadu_si128(reinterpret_cast(&dquote[0])); + const __m128i bs = + _mm_loadu_si128(reinterpret_cast(&bslash[0])); + const __m128i sp = + _mm_loadu_si128(reinterpret_cast(&space[0])); + + for (;; p += 16) { + const __m128i s = _mm_load_si128(reinterpret_cast(p)); + const __m128i t1 = _mm_cmpeq_epi8(s, dq); + const __m128i t2 = _mm_cmpeq_epi8(s, bs); + const __m128i t3 = _mm_cmpeq_epi8( + _mm_max_epu8(s, sp), sp); // s < 0x20 <=> max(s, 0x1F) == 0x1F + const __m128i x = _mm_or_si128(_mm_or_si128(t1, t2), t3); + unsigned short r = static_cast(_mm_movemask_epi8(x)); + if (RAPIDJSON_UNLIKELY(r != 0)) { // some of characters is escaped + size_t length; +#ifdef _MSC_VER // Find the index of first escaped + unsigned long offset; + _BitScanForward(&offset, r); + length = offset; +#else + length = static_cast(__builtin_ffs(r) - 1); +#endif + p += length; + break; + } + } + + is.src_ = is.dst_ = p; + } +#elif defined(RAPIDJSON_NEON) + // StringStream -> StackStream + static RAPIDJSON_FORCEINLINE void ScanCopyUnescapedString( + StringStream &is, StackStream &os) { + const char *p = is.src_; + + // Scan one by one until alignment (unaligned load may cross page boundary + // and cause crash) + const char *nextAligned = reinterpret_cast( + (reinterpret_cast(p) + 15) & static_cast(~15)); + while (p != nextAligned) + if (RAPIDJSON_UNLIKELY(*p == '\"') || RAPIDJSON_UNLIKELY(*p == '\\') || + RAPIDJSON_UNLIKELY(static_cast(*p) < 0x20)) { + is.src_ = p; + return; + } else + os.Put(*p++); + + // The rest of string using SIMD + const uint8x16_t s0 = vmovq_n_u8('"'); + const uint8x16_t s1 = vmovq_n_u8('\\'); + const uint8x16_t s2 = vmovq_n_u8('\b'); + const uint8x16_t s3 = vmovq_n_u8(32); + + for (;; p += 16) { + const uint8x16_t s = vld1q_u8(reinterpret_cast(p)); + uint8x16_t x = vceqq_u8(s, s0); + x = vorrq_u8(x, vceqq_u8(s, s1)); + x = vorrq_u8(x, vceqq_u8(s, s2)); + x = vorrq_u8(x, vcltq_u8(s, s3)); + + x = vrev64q_u8(x); // Rev in 64 + uint64_t low = vgetq_lane_u64(vreinterpretq_u64_u8(x), 0); // extract + uint64_t high = vgetq_lane_u64(vreinterpretq_u64_u8(x), 1); // extract + + SizeType length = 0; + bool escaped = false; + if (low == 0) { + if (high != 0) { + uint32_t lz = RAPIDJSON_CLZLL(high); + length = 8 + (lz >> 3); + escaped = true; + } + } else { + uint32_t lz = RAPIDJSON_CLZLL(low); + length = lz >> 3; + escaped = true; + } + if (RAPIDJSON_UNLIKELY(escaped)) { // some of characters is escaped + if (length != 0) { + char *q = reinterpret_cast(os.Push(length)); + for (size_t i = 0; i < length; i++) q[i] = p[i]; + + p += length; + } + break; + } + vst1q_u8(reinterpret_cast(os.Push(16)), s); + } + + is.src_ = p; + } + + // InsituStringStream -> InsituStringStream + static RAPIDJSON_FORCEINLINE void ScanCopyUnescapedString( + InsituStringStream &is, InsituStringStream &os) { + RAPIDJSON_ASSERT(&is == &os); + (void)os; + + if (is.src_ == is.dst_) { + SkipUnescapedString(is); + return; + } + + char *p = is.src_; + char *q = is.dst_; + + // Scan one by one until alignment (unaligned load may cross page boundary + // and cause crash) + const char *nextAligned = reinterpret_cast( + (reinterpret_cast(p) + 15) & static_cast(~15)); + while (p != nextAligned) + if (RAPIDJSON_UNLIKELY(*p == '\"') || RAPIDJSON_UNLIKELY(*p == '\\') || + RAPIDJSON_UNLIKELY(static_cast(*p) < 0x20)) { + is.src_ = p; + is.dst_ = q; + return; + } else + *q++ = *p++; + + // The rest of string using SIMD + const uint8x16_t s0 = vmovq_n_u8('"'); + const uint8x16_t s1 = vmovq_n_u8('\\'); + const uint8x16_t s2 = vmovq_n_u8('\b'); + const uint8x16_t s3 = vmovq_n_u8(32); + + for (;; p += 16, q += 16) { + const uint8x16_t s = vld1q_u8(reinterpret_cast(p)); + uint8x16_t x = vceqq_u8(s, s0); + x = vorrq_u8(x, vceqq_u8(s, s1)); + x = vorrq_u8(x, vceqq_u8(s, s2)); + x = vorrq_u8(x, vcltq_u8(s, s3)); + + x = vrev64q_u8(x); // Rev in 64 + uint64_t low = vgetq_lane_u64(vreinterpretq_u64_u8(x), 0); // extract + uint64_t high = vgetq_lane_u64(vreinterpretq_u64_u8(x), 1); // extract + + SizeType length = 0; + bool escaped = false; + if (low == 0) { + if (high != 0) { + uint32_t lz = RAPIDJSON_CLZLL(high); + length = 8 + (lz >> 3); + escaped = true; + } + } else { + uint32_t lz = RAPIDJSON_CLZLL(low); + length = lz >> 3; + escaped = true; + } + if (RAPIDJSON_UNLIKELY(escaped)) { // some of characters is escaped + for (const char *pend = p + length; p != pend;) { + *q++ = *p++; + } + break; + } + vst1q_u8(reinterpret_cast(q), s); + } + + is.src_ = p; + is.dst_ = q; + } + + // When read/write pointers are the same for insitu stream, just skip + // unescaped characters + static RAPIDJSON_FORCEINLINE void SkipUnescapedString( + InsituStringStream &is) { + RAPIDJSON_ASSERT(is.src_ == is.dst_); + char *p = is.src_; + + // Scan one by one until alignment (unaligned load may cross page boundary + // and cause crash) + const char *nextAligned = reinterpret_cast( + (reinterpret_cast(p) + 15) & static_cast(~15)); + for (; p != nextAligned; p++) + if (RAPIDJSON_UNLIKELY(*p == '\"') || RAPIDJSON_UNLIKELY(*p == '\\') || + RAPIDJSON_UNLIKELY(static_cast(*p) < 0x20)) { + is.src_ = is.dst_ = p; + return; + } + + // The rest of string using SIMD + const uint8x16_t s0 = vmovq_n_u8('"'); + const uint8x16_t s1 = vmovq_n_u8('\\'); + const uint8x16_t s2 = vmovq_n_u8('\b'); + const uint8x16_t s3 = vmovq_n_u8(32); + + for (;; p += 16) { + const uint8x16_t s = vld1q_u8(reinterpret_cast(p)); + uint8x16_t x = vceqq_u8(s, s0); + x = vorrq_u8(x, vceqq_u8(s, s1)); + x = vorrq_u8(x, vceqq_u8(s, s2)); + x = vorrq_u8(x, vcltq_u8(s, s3)); + + x = vrev64q_u8(x); // Rev in 64 + uint64_t low = vgetq_lane_u64(vreinterpretq_u64_u8(x), 0); // extract + uint64_t high = vgetq_lane_u64(vreinterpretq_u64_u8(x), 1); // extract + + if (low == 0) { + if (high != 0) { + uint32_t lz = RAPIDJSON_CLZLL(high); + p += 8 + (lz >> 3); + break; + } + } else { + uint32_t lz = RAPIDJSON_CLZLL(low); + p += lz >> 3; + break; + } + } + + is.src_ = is.dst_ = p; + } +#endif // RAPIDJSON_NEON + + template + class NumberStream; + + template + class NumberStream { + public: + typedef typename InputStream::Ch Ch; + + NumberStream(GenericReader &reader, InputStream &s) : is(s) { + (void)reader; + } + + RAPIDJSON_FORCEINLINE Ch Peek() const { return is.Peek(); } + RAPIDJSON_FORCEINLINE Ch TakePush() { return is.Take(); } + RAPIDJSON_FORCEINLINE Ch Take() { return is.Take(); } + RAPIDJSON_FORCEINLINE void Push(char) {} + + size_t Tell() { return is.Tell(); } + size_t Length() { return 0; } + const char *Pop() { return 0; } + + protected: + NumberStream &operator=(const NumberStream &); + + InputStream &is; + }; + + template + class NumberStream + : public NumberStream { + typedef NumberStream Base; + + public: + NumberStream(GenericReader &reader, InputStream &is) + : Base(reader, is), stackStream(reader.stack_) {} + + RAPIDJSON_FORCEINLINE Ch TakePush() { + stackStream.Put(static_cast(Base::is.Peek())); + return Base::is.Take(); + } + + RAPIDJSON_FORCEINLINE void Push(char c) { stackStream.Put(c); } + + size_t Length() { return stackStream.Length(); } + + const char *Pop() { + stackStream.Put('\0'); + return stackStream.Pop(); + } + + private: + StackStream stackStream; + }; + + template + class NumberStream + : public NumberStream { + typedef NumberStream Base; + + public: + NumberStream(GenericReader &reader, InputStream &is) : Base(reader, is) {} + + RAPIDJSON_FORCEINLINE Ch Take() { return Base::TakePush(); } + }; + + template + void ParseNumber(InputStream &is, Handler &handler) { + internal::StreamLocalCopy copy(is); + NumberStream + s(*this, copy.s); + + size_t startOffset = s.Tell(); + double d = 0.0; + bool useNanOrInf = false; + + // Parse minus + bool minus = Consume(s, '-'); + + // Parse int: zero / ( digit1-9 *DIGIT ) + unsigned i = 0; + uint64_t i64 = 0; + bool use64bit = false; + int significandDigit = 0; + if (RAPIDJSON_UNLIKELY(s.Peek() == '0')) { + i = 0; + s.TakePush(); + } else if (RAPIDJSON_LIKELY(s.Peek() >= '1' && s.Peek() <= '9')) { + i = static_cast(s.TakePush() - '0'); + + if (minus) + while (RAPIDJSON_LIKELY(s.Peek() >= '0' && s.Peek() <= '9')) { + if (RAPIDJSON_UNLIKELY(i >= 214748364)) { // 2^31 = 2147483648 + if (RAPIDJSON_LIKELY(i != 214748364 || s.Peek() > '8')) { + i64 = i; + use64bit = true; + break; + } + } + i = i * 10 + static_cast(s.TakePush() - '0'); + significandDigit++; + } + else + while (RAPIDJSON_LIKELY(s.Peek() >= '0' && s.Peek() <= '9')) { + if (RAPIDJSON_UNLIKELY(i >= 429496729)) { // 2^32 - 1 = 4294967295 + if (RAPIDJSON_LIKELY(i != 429496729 || s.Peek() > '5')) { + i64 = i; + use64bit = true; + break; + } + } + i = i * 10 + static_cast(s.TakePush() - '0'); + significandDigit++; + } + } + // Parse NaN or Infinity here + else if ((parseFlags & kParseNanAndInfFlag) && + RAPIDJSON_LIKELY((s.Peek() == 'I' || s.Peek() == 'N'))) { + if (Consume(s, 'N')) { + if (Consume(s, 'a') && Consume(s, 'N')) { + d = std::numeric_limits::quiet_NaN(); + useNanOrInf = true; + } + } else if (RAPIDJSON_LIKELY(Consume(s, 'I'))) { + if (Consume(s, 'n') && Consume(s, 'f')) { + d = (minus ? -std::numeric_limits::infinity() + : std::numeric_limits::infinity()); + useNanOrInf = true; + + if (RAPIDJSON_UNLIKELY(s.Peek() == 'i' && + !(Consume(s, 'i') && Consume(s, 'n') && + Consume(s, 'i') && Consume(s, 't') && + Consume(s, 'y')))) { + RAPIDJSON_PARSE_ERROR(kParseErrorValueInvalid, s.Tell()); + } + } + } + + if (RAPIDJSON_UNLIKELY(!useNanOrInf)) { + RAPIDJSON_PARSE_ERROR(kParseErrorValueInvalid, s.Tell()); + } + } else + RAPIDJSON_PARSE_ERROR(kParseErrorValueInvalid, s.Tell()); + + // Parse 64bit int + bool useDouble = false; + if (use64bit) { + if (minus) + while (RAPIDJSON_LIKELY(s.Peek() >= '0' && s.Peek() <= '9')) { + if (RAPIDJSON_UNLIKELY( + i64 >= + RAPIDJSON_UINT64_C2( + 0x0CCCCCCC, 0xCCCCCCCC))) // 2^63 = 9223372036854775808 + if (RAPIDJSON_LIKELY( + i64 != RAPIDJSON_UINT64_C2(0x0CCCCCCC, 0xCCCCCCCC) || + s.Peek() > '8')) { + d = static_cast(i64); + useDouble = true; + break; + } + i64 = i64 * 10 + static_cast(s.TakePush() - '0'); + significandDigit++; + } + else + while (RAPIDJSON_LIKELY(s.Peek() >= '0' && s.Peek() <= '9')) { + if (RAPIDJSON_UNLIKELY( + i64 >= RAPIDJSON_UINT64_C2( + 0x19999999, + 0x99999999))) // 2^64 - 1 = 18446744073709551615 + if (RAPIDJSON_LIKELY( + i64 != RAPIDJSON_UINT64_C2(0x19999999, 0x99999999) || + s.Peek() > '5')) { + d = static_cast(i64); + useDouble = true; + break; + } + i64 = i64 * 10 + static_cast(s.TakePush() - '0'); + significandDigit++; + } + } + + // Force double for big integer + if (useDouble) { + while (RAPIDJSON_LIKELY(s.Peek() >= '0' && s.Peek() <= '9')) { + d = d * 10 + (s.TakePush() - '0'); + } + } + + // Parse frac = decimal-point 1*DIGIT + int expFrac = 0; + size_t decimalPosition; + if (Consume(s, '.')) { + decimalPosition = s.Length(); + + if (RAPIDJSON_UNLIKELY(!(s.Peek() >= '0' && s.Peek() <= '9'))) + RAPIDJSON_PARSE_ERROR(kParseErrorNumberMissFraction, s.Tell()); + + if (!useDouble) { +#if RAPIDJSON_64BIT + // Use i64 to store significand in 64-bit architecture + if (!use64bit) i64 = i; + + while (RAPIDJSON_LIKELY(s.Peek() >= '0' && s.Peek() <= '9')) { + if (i64 > RAPIDJSON_UINT64_C2(0x1FFFFF, + 0xFFFFFFFF)) // 2^53 - 1 for fast path + break; + else { + i64 = i64 * 10 + static_cast(s.TakePush() - '0'); + --expFrac; + if (i64 != 0) significandDigit++; + } + } + + d = static_cast(i64); +#else + // Use double to store significand in 32-bit architecture + d = static_cast(use64bit ? i64 : i); +#endif + useDouble = true; + } + + while (RAPIDJSON_LIKELY(s.Peek() >= '0' && s.Peek() <= '9')) { + if (significandDigit < 17) { + d = d * 10.0 + (s.TakePush() - '0'); + --expFrac; + if (RAPIDJSON_LIKELY(d > 0.0)) significandDigit++; + } else + s.TakePush(); + } + } else + decimalPosition = s.Length(); // decimal position at the end of integer. + + // Parse exp = e [ minus / plus ] 1*DIGIT + int exp = 0; + if (Consume(s, 'e') || Consume(s, 'E')) { + if (!useDouble) { + d = static_cast(use64bit ? i64 : i); + useDouble = true; + } + + bool expMinus = false; + if (Consume(s, '+')) + ; + else if (Consume(s, '-')) + expMinus = true; + + if (RAPIDJSON_LIKELY(s.Peek() >= '0' && s.Peek() <= '9')) { + exp = static_cast(s.Take() - '0'); + if (expMinus) { + // (exp + expFrac) must not underflow int => we're detecting when -exp + // gets dangerously close to INT_MIN (a pessimistic next digit 9 would + // push it into underflow territory): + // + // -(exp * 10 + 9) + expFrac >= INT_MIN + // <=> exp <= (expFrac - INT_MIN - 9) / 10 + RAPIDJSON_ASSERT(expFrac <= 0); + int maxExp = (expFrac + 2147483639) / 10; + + while (RAPIDJSON_LIKELY(s.Peek() >= '0' && s.Peek() <= '9')) { + exp = exp * 10 + static_cast(s.Take() - '0'); + if (RAPIDJSON_UNLIKELY(exp > maxExp)) { + while (RAPIDJSON_UNLIKELY( + s.Peek() >= '0' && + s.Peek() <= '9')) // Consume the rest of exponent + s.Take(); + } + } + } else { // positive exp + int maxExp = 308 - expFrac; + while (RAPIDJSON_LIKELY(s.Peek() >= '0' && s.Peek() <= '9')) { + exp = exp * 10 + static_cast(s.Take() - '0'); + if (RAPIDJSON_UNLIKELY(exp > maxExp)) + RAPIDJSON_PARSE_ERROR(kParseErrorNumberTooBig, startOffset); + } + } + } else + RAPIDJSON_PARSE_ERROR(kParseErrorNumberMissExponent, s.Tell()); + + if (expMinus) exp = -exp; + } + + // Finish parsing, call event according to the type of number. + bool cont = true; + + if (parseFlags & kParseNumbersAsStringsFlag) { + if (parseFlags & kParseInsituFlag) { + s.Pop(); // Pop stack no matter if it will be used or not. + typename InputStream::Ch *head = is.PutBegin(); + const size_t length = s.Tell() - startOffset; + RAPIDJSON_ASSERT(length <= 0xFFFFFFFF); + // unable to insert the \0 character here, it will erase the comma after + // this number + const typename TargetEncoding::Ch *const str = + reinterpret_cast(head); + cont = handler.RawNumber(str, SizeType(length), false); + } else { + SizeType numCharsToCopy = static_cast(s.Length()); + StringStream srcStream(s.Pop()); + StackStream dstStream(stack_); + while (numCharsToCopy--) { + Transcoder, TargetEncoding>::Transcode(srcStream, dstStream); + } + dstStream.Put('\0'); + const typename TargetEncoding::Ch *str = dstStream.Pop(); + const SizeType length = static_cast(dstStream.Length()) - 1; + cont = handler.RawNumber(str, SizeType(length), true); + } + } else { + size_t length = s.Length(); + const char *decimal = + s.Pop(); // Pop stack no matter if it will be used or not. + + if (useDouble) { + int p = exp + expFrac; + if (parseFlags & kParseFullPrecisionFlag) + d = internal::StrtodFullPrecision(d, p, decimal, length, + decimalPosition, exp); + else + d = internal::StrtodNormalPrecision(d, p); + + // Use > max, instead of == inf, to fix bogus warning -Wfloat-equal + if (d > (std::numeric_limits::max)()) { + // Overflow + // TODO: internal::StrtodX should report overflow (or underflow) + RAPIDJSON_PARSE_ERROR(kParseErrorNumberTooBig, startOffset); + } + + cont = handler.Double(minus ? -d : d); + } else if (useNanOrInf) { + cont = handler.Double(d); + } else { + if (use64bit) { + if (minus) + cont = handler.Int64(static_cast(~i64 + 1)); + else + cont = handler.Uint64(i64); + } else { + if (minus) + cont = handler.Int(static_cast(~i + 1)); + else + cont = handler.Uint(i); + } + } + } + if (RAPIDJSON_UNLIKELY(!cont)) + RAPIDJSON_PARSE_ERROR(kParseErrorTermination, startOffset); + } + + // Parse any JSON value + template + void ParseValue(InputStream &is, Handler &handler) { + switch (is.Peek()) { + case 'n': + ParseNull(is, handler); + break; + case 't': + ParseTrue(is, handler); + break; + case 'f': + ParseFalse(is, handler); + break; + case '"': + ParseString(is, handler); + break; + case '{': + ParseObject(is, handler); + break; + case '[': + ParseArray(is, handler); + break; + default: + ParseNumber(is, handler); + break; + } + } + + // Iterative Parsing + + // States + enum IterativeParsingState { + IterativeParsingFinishState = 0, // sink states at top + IterativeParsingErrorState, // sink states at top + IterativeParsingStartState, + + // Object states + IterativeParsingObjectInitialState, + IterativeParsingMemberKeyState, + IterativeParsingMemberValueState, + IterativeParsingObjectFinishState, + + // Array states + IterativeParsingArrayInitialState, + IterativeParsingElementState, + IterativeParsingArrayFinishState, + + // Single value state + IterativeParsingValueState, + + // Delimiter states (at bottom) + IterativeParsingElementDelimiterState, + IterativeParsingMemberDelimiterState, + IterativeParsingKeyValueDelimiterState, + + cIterativeParsingStateCount + }; + + // Tokens + enum Token { + LeftBracketToken = 0, + RightBracketToken, + + LeftCurlyBracketToken, + RightCurlyBracketToken, + + CommaToken, + ColonToken, + + StringToken, + FalseToken, + TrueToken, + NullToken, + NumberToken, + + kTokenCount + }; + + RAPIDJSON_FORCEINLINE Token Tokenize(Ch c) const { +//!@cond RAPIDJSON_HIDDEN_FROM_DOXYGEN +#define N NumberToken +#define N16 N, N, N, N, N, N, N, N, N, N, N, N, N, N, N, N + // Maps from ASCII to Token + static const unsigned char tokenMap[256] = { + N16, // 00~0F + N16, // 10~1F + N, N, + StringToken, N, + N, N, + N, N, + N, N, + N, N, + CommaToken, N, + N, N, // 20~2F + N, N, + N, N, + N, N, + N, N, + N, N, + ColonToken, N, + N, N, + N, N, // 30~3F + N16, // 40~4F + N, N, + N, N, + N, N, + N, N, + N, N, + N, LeftBracketToken, + N, RightBracketToken, + N, N, // 50~5F + N, N, + N, N, + N, N, + FalseToken, N, + N, N, + N, N, + N, N, + NullToken, N, // 60~6F + N, N, + N, N, + TrueToken, N, + N, N, + N, N, + N, LeftCurlyBracketToken, + N, RightCurlyBracketToken, + N, N, // 70~7F + N16, N16, + N16, N16, + N16, N16, + N16, N16 // 80~FF + }; +#undef N +#undef N16 + //!@endcond + + if (sizeof(Ch) == 1 || static_cast(c) < 256) + return static_cast(tokenMap[static_cast(c)]); + else + return NumberToken; + } + + RAPIDJSON_FORCEINLINE IterativeParsingState + Predict(IterativeParsingState state, Token token) const { + // current state x one lookahead token -> new state + static const char G[cIterativeParsingStateCount][kTokenCount] = { + // Finish(sink state) + {IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState}, + // Error(sink state) + {IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState}, + // Start + { + IterativeParsingArrayInitialState, // Left bracket + IterativeParsingErrorState, // Right bracket + IterativeParsingObjectInitialState, // Left curly bracket + IterativeParsingErrorState, // Right curly bracket + IterativeParsingErrorState, // Comma + IterativeParsingErrorState, // Colon + IterativeParsingValueState, // String + IterativeParsingValueState, // False + IterativeParsingValueState, // True + IterativeParsingValueState, // Null + IterativeParsingValueState // Number + }, + // ObjectInitial + { + IterativeParsingErrorState, // Left bracket + IterativeParsingErrorState, // Right bracket + IterativeParsingErrorState, // Left curly bracket + IterativeParsingObjectFinishState, // Right curly bracket + IterativeParsingErrorState, // Comma + IterativeParsingErrorState, // Colon + IterativeParsingMemberKeyState, // String + IterativeParsingErrorState, // False + IterativeParsingErrorState, // True + IterativeParsingErrorState, // Null + IterativeParsingErrorState // Number + }, + // MemberKey + { + IterativeParsingErrorState, // Left bracket + IterativeParsingErrorState, // Right bracket + IterativeParsingErrorState, // Left curly bracket + IterativeParsingErrorState, // Right curly bracket + IterativeParsingErrorState, // Comma + IterativeParsingKeyValueDelimiterState, // Colon + IterativeParsingErrorState, // String + IterativeParsingErrorState, // False + IterativeParsingErrorState, // True + IterativeParsingErrorState, // Null + IterativeParsingErrorState // Number + }, + // MemberValue + { + IterativeParsingErrorState, // Left bracket + IterativeParsingErrorState, // Right bracket + IterativeParsingErrorState, // Left curly bracket + IterativeParsingObjectFinishState, // Right curly bracket + IterativeParsingMemberDelimiterState, // Comma + IterativeParsingErrorState, // Colon + IterativeParsingErrorState, // String + IterativeParsingErrorState, // False + IterativeParsingErrorState, // True + IterativeParsingErrorState, // Null + IterativeParsingErrorState // Number + }, + // ObjectFinish(sink state) + {IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState}, + // ArrayInitial + { + IterativeParsingArrayInitialState, // Left bracket(push Element + // state) + IterativeParsingArrayFinishState, // Right bracket + IterativeParsingObjectInitialState, // Left curly bracket(push + // Element state) + IterativeParsingErrorState, // Right curly bracket + IterativeParsingErrorState, // Comma + IterativeParsingErrorState, // Colon + IterativeParsingElementState, // String + IterativeParsingElementState, // False + IterativeParsingElementState, // True + IterativeParsingElementState, // Null + IterativeParsingElementState // Number + }, + // Element + { + IterativeParsingErrorState, // Left bracket + IterativeParsingArrayFinishState, // Right bracket + IterativeParsingErrorState, // Left curly bracket + IterativeParsingErrorState, // Right curly bracket + IterativeParsingElementDelimiterState, // Comma + IterativeParsingErrorState, // Colon + IterativeParsingErrorState, // String + IterativeParsingErrorState, // False + IterativeParsingErrorState, // True + IterativeParsingErrorState, // Null + IterativeParsingErrorState // Number + }, + // ArrayFinish(sink state) + {IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState}, + // Single Value (sink state) + {IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState, IterativeParsingErrorState, + IterativeParsingErrorState}, + // ElementDelimiter + { + IterativeParsingArrayInitialState, // Left bracket(push Element + // state) + IterativeParsingArrayFinishState, // Right bracket + IterativeParsingObjectInitialState, // Left curly bracket(push + // Element state) + IterativeParsingErrorState, // Right curly bracket + IterativeParsingErrorState, // Comma + IterativeParsingErrorState, // Colon + IterativeParsingElementState, // String + IterativeParsingElementState, // False + IterativeParsingElementState, // True + IterativeParsingElementState, // Null + IterativeParsingElementState // Number + }, + // MemberDelimiter + { + IterativeParsingErrorState, // Left bracket + IterativeParsingErrorState, // Right bracket + IterativeParsingErrorState, // Left curly bracket + IterativeParsingObjectFinishState, // Right curly bracket + IterativeParsingErrorState, // Comma + IterativeParsingErrorState, // Colon + IterativeParsingMemberKeyState, // String + IterativeParsingErrorState, // False + IterativeParsingErrorState, // True + IterativeParsingErrorState, // Null + IterativeParsingErrorState // Number + }, + // KeyValueDelimiter + { + IterativeParsingArrayInitialState, // Left bracket(push MemberValue + // state) + IterativeParsingErrorState, // Right bracket + IterativeParsingObjectInitialState, // Left curly bracket(push + // MemberValue state) + IterativeParsingErrorState, // Right curly bracket + IterativeParsingErrorState, // Comma + IterativeParsingErrorState, // Colon + IterativeParsingMemberValueState, // String + IterativeParsingMemberValueState, // False + IterativeParsingMemberValueState, // True + IterativeParsingMemberValueState, // Null + IterativeParsingMemberValueState // Number + }, + }; // End of G + + return static_cast(G[state][token]); + } + + // Make an advance in the token stream and state based on the candidate + // destination state which was returned by Transit(). May return a new state + // on state pop. + template + RAPIDJSON_FORCEINLINE IterativeParsingState Transit(IterativeParsingState src, + Token token, + IterativeParsingState dst, + InputStream &is, + Handler &handler) { + (void)token; + + switch (dst) { + case IterativeParsingErrorState: + return dst; + + case IterativeParsingObjectInitialState: + case IterativeParsingArrayInitialState: { + // Push the state(Element or MemeberValue) if we are nested in another + // array or value of member. In this way we can get the correct state on + // ObjectFinish or ArrayFinish by frame pop. + IterativeParsingState n = src; + if (src == IterativeParsingArrayInitialState || + src == IterativeParsingElementDelimiterState) + n = IterativeParsingElementState; + else if (src == IterativeParsingKeyValueDelimiterState) + n = IterativeParsingMemberValueState; + // Push current state. + *stack_.template Push(1) = n; + // Initialize and push the member/element count. + *stack_.template Push(1) = 0; + // Call handler + bool hr = (dst == IterativeParsingObjectInitialState) + ? handler.StartObject() + : handler.StartArray(); + // On handler short circuits the parsing. + if (!hr) { + RAPIDJSON_PARSE_ERROR_NORETURN(kParseErrorTermination, is.Tell()); + return IterativeParsingErrorState; + } else { + is.Take(); + return dst; + } + } + + case IterativeParsingMemberKeyState: + ParseString(is, handler, true); + if (HasParseError()) + return IterativeParsingErrorState; + else + return dst; + + case IterativeParsingKeyValueDelimiterState: + RAPIDJSON_ASSERT(token == ColonToken); + is.Take(); + return dst; + + case IterativeParsingMemberValueState: + // Must be non-compound value. Or it would be ObjectInitial or + // ArrayInitial state. + ParseValue(is, handler); + if (HasParseError()) { + return IterativeParsingErrorState; + } + return dst; + + case IterativeParsingElementState: + // Must be non-compound value. Or it would be ObjectInitial or + // ArrayInitial state. + ParseValue(is, handler); + if (HasParseError()) { + return IterativeParsingErrorState; + } + return dst; + + case IterativeParsingMemberDelimiterState: + case IterativeParsingElementDelimiterState: + is.Take(); + // Update member/element count. + *stack_.template Top() = *stack_.template Top() + 1; + return dst; + + case IterativeParsingObjectFinishState: { + // Transit from delimiter is only allowed when trailing commas are + // enabled + if (!(parseFlags & kParseTrailingCommasFlag) && + src == IterativeParsingMemberDelimiterState) { + RAPIDJSON_PARSE_ERROR_NORETURN(kParseErrorObjectMissName, is.Tell()); + return IterativeParsingErrorState; + } + // Get member count. + SizeType c = *stack_.template Pop(1); + // If the object is not empty, count the last member. + if (src == IterativeParsingMemberValueState) ++c; + // Restore the state. + IterativeParsingState n = static_cast( + *stack_.template Pop(1)); + // Transit to Finish state if this is the topmost scope. + if (n == IterativeParsingStartState) n = IterativeParsingFinishState; + // Call handler + bool hr = handler.EndObject(c); + // On handler short circuits the parsing. + if (!hr) { + RAPIDJSON_PARSE_ERROR_NORETURN(kParseErrorTermination, is.Tell()); + return IterativeParsingErrorState; + } else { + is.Take(); + return n; + } + } + + case IterativeParsingArrayFinishState: { + // Transit from delimiter is only allowed when trailing commas are + // enabled + if (!(parseFlags & kParseTrailingCommasFlag) && + src == IterativeParsingElementDelimiterState) { + RAPIDJSON_PARSE_ERROR_NORETURN(kParseErrorValueInvalid, is.Tell()); + return IterativeParsingErrorState; + } + // Get element count. + SizeType c = *stack_.template Pop(1); + // If the array is not empty, count the last element. + if (src == IterativeParsingElementState) ++c; + // Restore the state. + IterativeParsingState n = static_cast( + *stack_.template Pop(1)); + // Transit to Finish state if this is the topmost scope. + if (n == IterativeParsingStartState) n = IterativeParsingFinishState; + // Call handler + bool hr = handler.EndArray(c); + // On handler short circuits the parsing. + if (!hr) { + RAPIDJSON_PARSE_ERROR_NORETURN(kParseErrorTermination, is.Tell()); + return IterativeParsingErrorState; + } else { + is.Take(); + return n; + } + } + + default: + // This branch is for IterativeParsingValueState actually. + // Use `default:` rather than + // `case IterativeParsingValueState:` is for code coverage. + + // The IterativeParsingStartState is not enumerated in this switch-case. + // It is impossible for that case. And it can be caught by following + // assertion. + + // The IterativeParsingFinishState is not enumerated in this switch-case + // either. It is a "derivative" state which cannot triggered from + // Predict() directly. Therefore it cannot happen here. And it can be + // caught by following assertion. + RAPIDJSON_ASSERT(dst == IterativeParsingValueState); + + // Must be non-compound value. Or it would be ObjectInitial or + // ArrayInitial state. + ParseValue(is, handler); + if (HasParseError()) { + return IterativeParsingErrorState; + } + return IterativeParsingFinishState; + } + } + + template + void HandleError(IterativeParsingState src, InputStream &is) { + if (HasParseError()) { + // Error flag has been set. + return; + } + + switch (src) { + case IterativeParsingStartState: + RAPIDJSON_PARSE_ERROR(kParseErrorDocumentEmpty, is.Tell()); + return; + case IterativeParsingFinishState: + RAPIDJSON_PARSE_ERROR(kParseErrorDocumentRootNotSingular, is.Tell()); + return; + case IterativeParsingObjectInitialState: + case IterativeParsingMemberDelimiterState: + RAPIDJSON_PARSE_ERROR(kParseErrorObjectMissName, is.Tell()); + return; + case IterativeParsingMemberKeyState: + RAPIDJSON_PARSE_ERROR(kParseErrorObjectMissColon, is.Tell()); + return; + case IterativeParsingMemberValueState: + RAPIDJSON_PARSE_ERROR(kParseErrorObjectMissCommaOrCurlyBracket, + is.Tell()); + return; + case IterativeParsingKeyValueDelimiterState: + case IterativeParsingArrayInitialState: + case IterativeParsingElementDelimiterState: + RAPIDJSON_PARSE_ERROR(kParseErrorValueInvalid, is.Tell()); + return; + default: + RAPIDJSON_ASSERT(src == IterativeParsingElementState); + RAPIDJSON_PARSE_ERROR(kParseErrorArrayMissCommaOrSquareBracket, + is.Tell()); + return; + } + } + + RAPIDJSON_FORCEINLINE bool IsIterativeParsingDelimiterState( + IterativeParsingState s) const { + return s >= IterativeParsingElementDelimiterState; + } + + RAPIDJSON_FORCEINLINE bool IsIterativeParsingCompleteState( + IterativeParsingState s) const { + return s <= IterativeParsingErrorState; + } + + template + ParseResult IterativeParse(InputStream &is, Handler &handler) { + parseResult_.Clear(); + ClearStackOnExit scope(*this); + IterativeParsingState state = IterativeParsingStartState; + + SkipWhitespaceAndComments(is); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN(parseResult_); + while (is.Peek() != '\0') { + Token t = Tokenize(is.Peek()); + IterativeParsingState n = Predict(state, t); + IterativeParsingState d = Transit(state, t, n, is, handler); + + if (d == IterativeParsingErrorState) { + HandleError(state, is); + break; + } + + state = d; + + // Do not further consume streams if a root JSON has been parsed. + if ((parseFlags & kParseStopWhenDoneFlag) && + state == IterativeParsingFinishState) + break; + + SkipWhitespaceAndComments(is); + RAPIDJSON_PARSE_ERROR_EARLY_RETURN(parseResult_); + } + + // Handle the end of file. + if (state != IterativeParsingFinishState) HandleError(state, is); + + return parseResult_; + } + + static const size_t kDefaultStackCapacity = + 256; //!< Default stack capacity in bytes for storing a single decoded + //!< string. + internal::Stack + stack_; //!< A stack for storing decoded string temporarily during + //!< non-destructive parsing. + ParseResult parseResult_; + IterativeParsingState state_; +}; // class GenericReader + +//! Reader with UTF8 encoding and default allocator. +typedef GenericReader, UTF8<>> Reader; + +RAPIDJSON_NAMESPACE_END + +#if defined(__clang__) || defined(_MSC_VER) +RAPIDJSON_DIAG_POP +#endif + +#ifdef __GNUC__ +RAPIDJSON_DIAG_POP +#endif + +#endif // RAPIDJSON_READER_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/schema.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/schema.h new file mode 100644 index 0000000..b9dc8c8 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/schema.h @@ -0,0 +1,2743 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available-> +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip-> All +// rights reserved-> +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License-> You may obtain a copy of the License +// at +// +// http://opensource->org/licenses/MIT +// +// 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 RAPIDJSON_SCHEMA_H_ +#define RAPIDJSON_SCHEMA_H_ + +#include // abs, floor +#include "document.h" +#include "pointer.h" +#include "stringbuffer.h" + +#if !defined(RAPIDJSON_SCHEMA_USE_INTERNALREGEX) +#define RAPIDJSON_SCHEMA_USE_INTERNALREGEX 1 +#else +#define RAPIDJSON_SCHEMA_USE_INTERNALREGEX 0 +#endif + +#if !RAPIDJSON_SCHEMA_USE_INTERNALREGEX && \ + defined(RAPIDJSON_SCHEMA_USE_STDREGEX) && \ + (__cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1800)) +#define RAPIDJSON_SCHEMA_USE_STDREGEX 1 +#else +#define RAPIDJSON_SCHEMA_USE_STDREGEX 0 +#endif + +#if RAPIDJSON_SCHEMA_USE_INTERNALREGEX +#include "internal/regex.h" +#elif RAPIDJSON_SCHEMA_USE_STDREGEX +#include +#endif + +#if RAPIDJSON_SCHEMA_USE_INTERNALREGEX || RAPIDJSON_SCHEMA_USE_STDREGEX +#define RAPIDJSON_SCHEMA_HAS_REGEX 1 +#else +#define RAPIDJSON_SCHEMA_HAS_REGEX 0 +#endif + +#ifndef RAPIDJSON_SCHEMA_VERBOSE +#define RAPIDJSON_SCHEMA_VERBOSE 0 +#endif + +#if RAPIDJSON_SCHEMA_VERBOSE +#include "stringbuffer.h" +#endif + +RAPIDJSON_DIAG_PUSH + +#if defined(__GNUC__) +RAPIDJSON_DIAG_OFF(effc++) +#endif + +#ifdef __clang__ +RAPIDJSON_DIAG_OFF(weak - vtables) +RAPIDJSON_DIAG_OFF(exit - time - destructors) +RAPIDJSON_DIAG_OFF(c++ 98 - compat - pedantic) +RAPIDJSON_DIAG_OFF(variadic - macros) +#elif defined(_MSC_VER) +RAPIDJSON_DIAG_OFF(4512) // assignment operator could not be generated +#endif + +RAPIDJSON_NAMESPACE_BEGIN + +/////////////////////////////////////////////////////////////////////////////// +// Verbose Utilities + +#if RAPIDJSON_SCHEMA_VERBOSE + +namespace internal { + +inline void PrintInvalidKeyword(const char *keyword) { + printf("Fail keyword: %s\n", keyword); +} + +inline void PrintInvalidKeyword(const wchar_t *keyword) { + wprintf(L"Fail keyword: %ls\n", keyword); +} + +inline void PrintInvalidDocument(const char *document) { + printf("Fail document: %s\n\n", document); +} + +inline void PrintInvalidDocument(const wchar_t *document) { + wprintf(L"Fail document: %ls\n\n", document); +} + +inline void PrintValidatorPointers(unsigned depth, const char *s, + const char *d) { + printf("S: %*s%s\nD: %*s%s\n\n", depth * 4, " ", s, depth * 4, " ", d); +} + +inline void PrintValidatorPointers(unsigned depth, const wchar_t *s, + const wchar_t *d) { + wprintf(L"S: %*ls%ls\nD: %*ls%ls\n\n", depth * 4, L" ", s, depth * 4, L" ", + d); +} + +} // namespace internal + +#endif // RAPIDJSON_SCHEMA_VERBOSE + +/////////////////////////////////////////////////////////////////////////////// +// RAPIDJSON_INVALID_KEYWORD_RETURN + +#if RAPIDJSON_SCHEMA_VERBOSE +#define RAPIDJSON_INVALID_KEYWORD_VERBOSE(keyword) \ + internal::PrintInvalidKeyword(keyword) +#else +#define RAPIDJSON_INVALID_KEYWORD_VERBOSE(keyword) +#endif + +#define RAPIDJSON_INVALID_KEYWORD_RETURN(keyword) \ + RAPIDJSON_MULTILINEMACRO_BEGIN \ + context.invalidKeyword = keyword.GetString(); \ + RAPIDJSON_INVALID_KEYWORD_VERBOSE(keyword.GetString()); \ + return false; \ + RAPIDJSON_MULTILINEMACRO_END + +/////////////////////////////////////////////////////////////////////////////// +// Forward declarations + +template +class GenericSchemaDocument; + +namespace internal { + +template +class Schema; + +/////////////////////////////////////////////////////////////////////////////// +// ISchemaValidator + +class ISchemaValidator { + public: + virtual ~ISchemaValidator() {} + virtual bool IsValid() const = 0; +}; + +/////////////////////////////////////////////////////////////////////////////// +// ISchemaStateFactory + +template +class ISchemaStateFactory { + public: + virtual ~ISchemaStateFactory() {} + virtual ISchemaValidator *CreateSchemaValidator(const SchemaType &) = 0; + virtual void DestroySchemaValidator(ISchemaValidator *validator) = 0; + virtual void *CreateHasher() = 0; + virtual uint64_t GetHashCode(void *hasher) = 0; + virtual void DestroryHasher(void *hasher) = 0; + virtual void *MallocState(size_t size) = 0; + virtual void FreeState(void *p) = 0; +}; + +/////////////////////////////////////////////////////////////////////////////// +// IValidationErrorHandler + +template +class IValidationErrorHandler { + public: + typedef typename SchemaType::Ch Ch; + typedef typename SchemaType::SValue SValue; + + virtual ~IValidationErrorHandler() {} + + virtual void NotMultipleOf(int64_t actual, const SValue &expected) = 0; + virtual void NotMultipleOf(uint64_t actual, const SValue &expected) = 0; + virtual void NotMultipleOf(double actual, const SValue &expected) = 0; + virtual void AboveMaximum(int64_t actual, const SValue &expected, + bool exclusive) = 0; + virtual void AboveMaximum(uint64_t actual, const SValue &expected, + bool exclusive) = 0; + virtual void AboveMaximum(double actual, const SValue &expected, + bool exclusive) = 0; + virtual void BelowMinimum(int64_t actual, const SValue &expected, + bool exclusive) = 0; + virtual void BelowMinimum(uint64_t actual, const SValue &expected, + bool exclusive) = 0; + virtual void BelowMinimum(double actual, const SValue &expected, + bool exclusive) = 0; + + virtual void TooLong(const Ch *str, SizeType length, SizeType expected) = 0; + virtual void TooShort(const Ch *str, SizeType length, SizeType expected) = 0; + virtual void DoesNotMatch(const Ch *str, SizeType length) = 0; + + virtual void DisallowedItem(SizeType index) = 0; + virtual void TooFewItems(SizeType actualCount, SizeType expectedCount) = 0; + virtual void TooManyItems(SizeType actualCount, SizeType expectedCount) = 0; + virtual void DuplicateItems(SizeType index1, SizeType index2) = 0; + + virtual void TooManyProperties(SizeType actualCount, + SizeType expectedCount) = 0; + virtual void TooFewProperties(SizeType actualCount, + SizeType expectedCount) = 0; + virtual void StartMissingProperties() = 0; + virtual void AddMissingProperty(const SValue &name) = 0; + virtual bool EndMissingProperties() = 0; + virtual void PropertyViolations(ISchemaValidator **subvalidators, + SizeType count) = 0; + virtual void DisallowedProperty(const Ch *name, SizeType length) = 0; + + virtual void StartDependencyErrors() = 0; + virtual void StartMissingDependentProperties() = 0; + virtual void AddMissingDependentProperty(const SValue &targetName) = 0; + virtual void EndMissingDependentProperties(const SValue &sourceName) = 0; + virtual void AddDependencySchemaError(const SValue &souceName, + ISchemaValidator *subvalidator) = 0; + virtual bool EndDependencyErrors() = 0; + + virtual void DisallowedValue() = 0; + virtual void StartDisallowedType() = 0; + virtual void AddExpectedType( + const typename SchemaType::ValueType &expectedType) = 0; + virtual void EndDisallowedType( + const typename SchemaType::ValueType &actualType) = 0; + virtual void NotAllOf(ISchemaValidator **subvalidators, SizeType count) = 0; + virtual void NoneOf(ISchemaValidator **subvalidators, SizeType count) = 0; + virtual void NotOneOf(ISchemaValidator **subvalidators, SizeType count) = 0; + virtual void Disallowed() = 0; +}; + +/////////////////////////////////////////////////////////////////////////////// +// Hasher + +// For comparison of compound value +template +class Hasher { + public: + typedef typename Encoding::Ch Ch; + + Hasher(Allocator *allocator = 0, size_t stackCapacity = kDefaultSize) + : stack_(allocator, stackCapacity) {} + + bool Null() { return WriteType(kNullType); } + bool Bool(bool b) { return WriteType(b ? kTrueType : kFalseType); } + bool Int(int i) { + Number n; + n.u.i = i; + n.d = static_cast(i); + return WriteNumber(n); + } + bool Uint(unsigned u) { + Number n; + n.u.u = u; + n.d = static_cast(u); + return WriteNumber(n); + } + bool Int64(int64_t i) { + Number n; + n.u.i = i; + n.d = static_cast(i); + return WriteNumber(n); + } + bool Uint64(uint64_t u) { + Number n; + n.u.u = u; + n.d = static_cast(u); + return WriteNumber(n); + } + bool Double(double d) { + Number n; + if (d < 0) + n.u.i = static_cast(d); + else + n.u.u = static_cast(d); + n.d = d; + return WriteNumber(n); + } + + bool RawNumber(const Ch *str, SizeType len, bool) { + WriteBuffer(kNumberType, str, len * sizeof(Ch)); + return true; + } + + bool String(const Ch *str, SizeType len, bool) { + WriteBuffer(kStringType, str, len * sizeof(Ch)); + return true; + } + + bool StartObject() { return true; } + bool Key(const Ch *str, SizeType len, bool copy) { + return String(str, len, copy); + } + bool EndObject(SizeType memberCount) { + uint64_t h = Hash(0, kObjectType); + uint64_t *kv = stack_.template Pop(memberCount * 2); + for (SizeType i = 0; i < memberCount; i++) + h ^= Hash(kv[i * 2], + kv[i * 2 + 1]); // Use xor to achieve member order insensitive + *stack_.template Push() = h; + return true; + } + + bool StartArray() { return true; } + bool EndArray(SizeType elementCount) { + uint64_t h = Hash(0, kArrayType); + uint64_t *e = stack_.template Pop(elementCount); + for (SizeType i = 0; i < elementCount; i++) + h = Hash(h, e[i]); // Use hash to achieve element order sensitive + *stack_.template Push() = h; + return true; + } + + bool IsValid() const { return stack_.GetSize() == sizeof(uint64_t); } + + uint64_t GetHashCode() const { + RAPIDJSON_ASSERT(IsValid()); + return *stack_.template Top(); + } + + private: + static const size_t kDefaultSize = 256; + struct Number { + union U { + uint64_t u; + int64_t i; + } u; + double d; + }; + + bool WriteType(Type type) { return WriteBuffer(type, 0, 0); } + + bool WriteNumber(const Number &n) { + return WriteBuffer(kNumberType, &n, sizeof(n)); + } + + bool WriteBuffer(Type type, const void *data, size_t len) { + // FNV-1a from http://isthe.com/chongo/tech/comp/fnv/ + uint64_t h = Hash(RAPIDJSON_UINT64_C2(0x84222325, 0xcbf29ce4), type); + const unsigned char *d = static_cast(data); + for (size_t i = 0; i < len; i++) h = Hash(h, d[i]); + *stack_.template Push() = h; + return true; + } + + static uint64_t Hash(uint64_t h, uint64_t d) { + static const uint64_t kPrime = RAPIDJSON_UINT64_C2(0x00000100, 0x000001b3); + h ^= d; + h *= kPrime; + return h; + } + + Stack stack_; +}; + +/////////////////////////////////////////////////////////////////////////////// +// SchemaValidationContext + +template +struct SchemaValidationContext { + typedef Schema SchemaType; + typedef ISchemaStateFactory SchemaValidatorFactoryType; + typedef IValidationErrorHandler ErrorHandlerType; + typedef typename SchemaType::ValueType ValueType; + typedef typename ValueType::Ch Ch; + + enum PatternValidatorType { + kPatternValidatorOnly, + kPatternValidatorWithProperty, + kPatternValidatorWithAdditionalProperty + }; + + SchemaValidationContext(SchemaValidatorFactoryType &f, ErrorHandlerType &eh, + const SchemaType *s) + : factory(f), + error_handler(eh), + schema(s), + valueSchema(), + invalidKeyword(), + hasher(), + arrayElementHashCodes(), + validators(), + validatorCount(), + patternPropertiesValidators(), + patternPropertiesValidatorCount(), + patternPropertiesSchemas(), + patternPropertiesSchemaCount(), + valuePatternValidatorType(kPatternValidatorOnly), + propertyExist(), + inArray(false), + valueUniqueness(false), + arrayUniqueness(false) {} + + ~SchemaValidationContext() { + if (hasher) factory.DestroryHasher(hasher); + if (validators) { + for (SizeType i = 0; i < validatorCount; i++) + factory.DestroySchemaValidator(validators[i]); + factory.FreeState(validators); + } + if (patternPropertiesValidators) { + for (SizeType i = 0; i < patternPropertiesValidatorCount; i++) + factory.DestroySchemaValidator(patternPropertiesValidators[i]); + factory.FreeState(patternPropertiesValidators); + } + if (patternPropertiesSchemas) factory.FreeState(patternPropertiesSchemas); + if (propertyExist) factory.FreeState(propertyExist); + } + + SchemaValidatorFactoryType &factory; + ErrorHandlerType &error_handler; + const SchemaType *schema; + const SchemaType *valueSchema; + const Ch *invalidKeyword; + void *hasher; // Only validator access + void *arrayElementHashCodes; // Only validator access this + ISchemaValidator **validators; + SizeType validatorCount; + ISchemaValidator **patternPropertiesValidators; + SizeType patternPropertiesValidatorCount; + const SchemaType **patternPropertiesSchemas; + SizeType patternPropertiesSchemaCount; + PatternValidatorType valuePatternValidatorType; + PatternValidatorType objectPatternValidatorType; + SizeType arrayElementIndex; + bool *propertyExist; + bool inArray; + bool valueUniqueness; + bool arrayUniqueness; +}; + +/////////////////////////////////////////////////////////////////////////////// +// Schema + +template +class Schema { + public: + typedef typename SchemaDocumentType::ValueType ValueType; + typedef typename SchemaDocumentType::AllocatorType AllocatorType; + typedef typename SchemaDocumentType::PointerType PointerType; + typedef typename ValueType::EncodingType EncodingType; + typedef typename EncodingType::Ch Ch; + typedef SchemaValidationContext Context; + typedef Schema SchemaType; + typedef GenericValue SValue; + typedef IValidationErrorHandler ErrorHandler; + friend class GenericSchemaDocument; + + Schema(SchemaDocumentType *schemaDocument, const PointerType &p, + const ValueType &value, const ValueType &document, + AllocatorType *allocator) + : allocator_(allocator), + uri_(schemaDocument->GetURI(), *allocator), + pointer_(p, allocator), + typeless_(schemaDocument->GetTypeless()), + enum_(), + enumCount_(), + not_(), + type_((1 << kTotalSchemaType) - 1), // typeless + validatorCount_(), + notValidatorIndex_(), + properties_(), + additionalPropertiesSchema_(), + patternProperties_(), + patternPropertyCount_(), + propertyCount_(), + minProperties_(), + maxProperties_(SizeType(~0)), + additionalProperties_(true), + hasDependencies_(), + hasRequired_(), + hasSchemaDependencies_(), + additionalItemsSchema_(), + itemsList_(), + itemsTuple_(), + itemsTupleCount_(), + minItems_(), + maxItems_(SizeType(~0)), + additionalItems_(true), + uniqueItems_(false), + pattern_(), + minLength_(0), + maxLength_(~SizeType(0)), + exclusiveMinimum_(false), + exclusiveMaximum_(false), + defaultValueLength_(0) { + typedef typename SchemaDocumentType::ValueType ValueType; + typedef typename ValueType::ConstValueIterator ConstValueIterator; + typedef typename ValueType::ConstMemberIterator ConstMemberIterator; + + if (!value.IsObject()) return; + + if (const ValueType *v = GetMember(value, GetTypeString())) { + type_ = 0; + if (v->IsString()) + AddType(*v); + else if (v->IsArray()) + for (ConstValueIterator itr = v->Begin(); itr != v->End(); ++itr) + AddType(*itr); + } + + if (const ValueType *v = GetMember(value, GetEnumString())) + if (v->IsArray() && v->Size() > 0) { + enum_ = static_cast( + allocator_->Malloc(sizeof(uint64_t) * v->Size())); + for (ConstValueIterator itr = v->Begin(); itr != v->End(); ++itr) { + typedef Hasher> EnumHasherType; + char buffer[256u + 24]; + MemoryPoolAllocator<> hasherAllocator(buffer, sizeof(buffer)); + EnumHasherType h(&hasherAllocator, 256); + itr->Accept(h); + enum_[enumCount_++] = h.GetHashCode(); + } + } + + if (schemaDocument) { + AssignIfExist(allOf_, *schemaDocument, p, value, GetAllOfString(), + document); + AssignIfExist(anyOf_, *schemaDocument, p, value, GetAnyOfString(), + document); + AssignIfExist(oneOf_, *schemaDocument, p, value, GetOneOfString(), + document); + } + + if (const ValueType *v = GetMember(value, GetNotString())) { + schemaDocument->CreateSchema(¬_, p.Append(GetNotString(), allocator_), + *v, document); + notValidatorIndex_ = validatorCount_; + validatorCount_++; + } + + // Object + + const ValueType *properties = GetMember(value, GetPropertiesString()); + const ValueType *required = GetMember(value, GetRequiredString()); + const ValueType *dependencies = GetMember(value, GetDependenciesString()); + { + // Gather properties from properties/required/dependencies + SValue allProperties(kArrayType); + + if (properties && properties->IsObject()) + for (ConstMemberIterator itr = properties->MemberBegin(); + itr != properties->MemberEnd(); ++itr) + AddUniqueElement(allProperties, itr->name); + + if (required && required->IsArray()) + for (ConstValueIterator itr = required->Begin(); itr != required->End(); + ++itr) + if (itr->IsString()) AddUniqueElement(allProperties, *itr); + + if (dependencies && dependencies->IsObject()) + for (ConstMemberIterator itr = dependencies->MemberBegin(); + itr != dependencies->MemberEnd(); ++itr) { + AddUniqueElement(allProperties, itr->name); + if (itr->value.IsArray()) + for (ConstValueIterator i = itr->value.Begin(); + i != itr->value.End(); ++i) + if (i->IsString()) AddUniqueElement(allProperties, *i); + } + + if (allProperties.Size() > 0) { + propertyCount_ = allProperties.Size(); + properties_ = static_cast( + allocator_->Malloc(sizeof(Property) * propertyCount_)); + for (SizeType i = 0; i < propertyCount_; i++) { + new (&properties_[i]) Property(); + properties_[i].name = allProperties[i]; + properties_[i].schema = typeless_; + } + } + } + + if (properties && properties->IsObject()) { + PointerType q = p.Append(GetPropertiesString(), allocator_); + for (ConstMemberIterator itr = properties->MemberBegin(); + itr != properties->MemberEnd(); ++itr) { + SizeType index; + if (FindPropertyIndex(itr->name, &index)) + schemaDocument->CreateSchema(&properties_[index].schema, + q.Append(itr->name, allocator_), + itr->value, document); + } + } + + if (const ValueType *v = GetMember(value, GetPatternPropertiesString())) { + PointerType q = p.Append(GetPatternPropertiesString(), allocator_); + patternProperties_ = static_cast( + allocator_->Malloc(sizeof(PatternProperty) * v->MemberCount())); + patternPropertyCount_ = 0; + + for (ConstMemberIterator itr = v->MemberBegin(); itr != v->MemberEnd(); + ++itr) { + new (&patternProperties_[patternPropertyCount_]) PatternProperty(); + patternProperties_[patternPropertyCount_].pattern = + CreatePattern(itr->name); + schemaDocument->CreateSchema( + &patternProperties_[patternPropertyCount_].schema, + q.Append(itr->name, allocator_), itr->value, document); + patternPropertyCount_++; + } + } + + if (required && required->IsArray()) + for (ConstValueIterator itr = required->Begin(); itr != required->End(); + ++itr) + if (itr->IsString()) { + SizeType index; + if (FindPropertyIndex(*itr, &index)) { + properties_[index].required = true; + hasRequired_ = true; + } + } + + if (dependencies && dependencies->IsObject()) { + PointerType q = p.Append(GetDependenciesString(), allocator_); + hasDependencies_ = true; + for (ConstMemberIterator itr = dependencies->MemberBegin(); + itr != dependencies->MemberEnd(); ++itr) { + SizeType sourceIndex; + if (FindPropertyIndex(itr->name, &sourceIndex)) { + if (itr->value.IsArray()) { + properties_[sourceIndex].dependencies = static_cast( + allocator_->Malloc(sizeof(bool) * propertyCount_)); + std::memset(properties_[sourceIndex].dependencies, 0, + sizeof(bool) * propertyCount_); + for (ConstValueIterator targetItr = itr->value.Begin(); + targetItr != itr->value.End(); ++targetItr) { + SizeType targetIndex; + if (FindPropertyIndex(*targetItr, &targetIndex)) + properties_[sourceIndex].dependencies[targetIndex] = true; + } + } else if (itr->value.IsObject()) { + hasSchemaDependencies_ = true; + schemaDocument->CreateSchema( + &properties_[sourceIndex].dependenciesSchema, + q.Append(itr->name, allocator_), itr->value, document); + properties_[sourceIndex].dependenciesValidatorIndex = + validatorCount_; + validatorCount_++; + } + } + } + } + + if (const ValueType *v = + GetMember(value, GetAdditionalPropertiesString())) { + if (v->IsBool()) + additionalProperties_ = v->GetBool(); + else if (v->IsObject()) + schemaDocument->CreateSchema( + &additionalPropertiesSchema_, + p.Append(GetAdditionalPropertiesString(), allocator_), *v, + document); + } + + AssignIfExist(minProperties_, value, GetMinPropertiesString()); + AssignIfExist(maxProperties_, value, GetMaxPropertiesString()); + + // Array + if (const ValueType *v = GetMember(value, GetItemsString())) { + PointerType q = p.Append(GetItemsString(), allocator_); + if (v->IsObject()) // List validation + schemaDocument->CreateSchema(&itemsList_, q, *v, document); + else if (v->IsArray()) { // Tuple validation + itemsTuple_ = static_cast( + allocator_->Malloc(sizeof(const Schema *) * v->Size())); + SizeType index = 0; + for (ConstValueIterator itr = v->Begin(); itr != v->End(); + ++itr, index++) + schemaDocument->CreateSchema(&itemsTuple_[itemsTupleCount_++], + q.Append(index, allocator_), *itr, + document); + } + } + + AssignIfExist(minItems_, value, GetMinItemsString()); + AssignIfExist(maxItems_, value, GetMaxItemsString()); + + if (const ValueType *v = GetMember(value, GetAdditionalItemsString())) { + if (v->IsBool()) + additionalItems_ = v->GetBool(); + else if (v->IsObject()) + schemaDocument->CreateSchema( + &additionalItemsSchema_, + p.Append(GetAdditionalItemsString(), allocator_), *v, document); + } + + AssignIfExist(uniqueItems_, value, GetUniqueItemsString()); + + // String + AssignIfExist(minLength_, value, GetMinLengthString()); + AssignIfExist(maxLength_, value, GetMaxLengthString()); + + if (const ValueType *v = GetMember(value, GetPatternString())) + pattern_ = CreatePattern(*v); + + // Number + if (const ValueType *v = GetMember(value, GetMinimumString())) + if (v->IsNumber()) minimum_.CopyFrom(*v, *allocator_); + + if (const ValueType *v = GetMember(value, GetMaximumString())) + if (v->IsNumber()) maximum_.CopyFrom(*v, *allocator_); + + AssignIfExist(exclusiveMinimum_, value, GetExclusiveMinimumString()); + AssignIfExist(exclusiveMaximum_, value, GetExclusiveMaximumString()); + + if (const ValueType *v = GetMember(value, GetMultipleOfString())) + if (v->IsNumber() && v->GetDouble() > 0.0) + multipleOf_.CopyFrom(*v, *allocator_); + + // Default + if (const ValueType *v = GetMember(value, GetDefaultValueString())) + if (v->IsString()) defaultValueLength_ = v->GetStringLength(); + } + + ~Schema() { + AllocatorType::Free(enum_); + if (properties_) { + for (SizeType i = 0; i < propertyCount_; i++) properties_[i].~Property(); + AllocatorType::Free(properties_); + } + if (patternProperties_) { + for (SizeType i = 0; i < patternPropertyCount_; i++) + patternProperties_[i].~PatternProperty(); + AllocatorType::Free(patternProperties_); + } + AllocatorType::Free(itemsTuple_); +#if RAPIDJSON_SCHEMA_HAS_REGEX + if (pattern_) { + pattern_->~RegexType(); + AllocatorType::Free(pattern_); + } +#endif + } + + const SValue &GetURI() const { return uri_; } + + const PointerType &GetPointer() const { return pointer_; } + + bool BeginValue(Context &context) const { + if (context.inArray) { + if (uniqueItems_) context.valueUniqueness = true; + + if (itemsList_) + context.valueSchema = itemsList_; + else if (itemsTuple_) { + if (context.arrayElementIndex < itemsTupleCount_) + context.valueSchema = itemsTuple_[context.arrayElementIndex]; + else if (additionalItemsSchema_) + context.valueSchema = additionalItemsSchema_; + else if (additionalItems_) + context.valueSchema = typeless_; + else { + context.error_handler.DisallowedItem(context.arrayElementIndex); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetItemsString()); + } + } else + context.valueSchema = typeless_; + + context.arrayElementIndex++; + } + return true; + } + + RAPIDJSON_FORCEINLINE bool EndValue(Context &context) const { + if (context.patternPropertiesValidatorCount > 0) { + bool otherValid = false; + SizeType count = context.patternPropertiesValidatorCount; + if (context.objectPatternValidatorType != Context::kPatternValidatorOnly) + otherValid = context.patternPropertiesValidators[--count]->IsValid(); + + bool patternValid = true; + for (SizeType i = 0; i < count; i++) + if (!context.patternPropertiesValidators[i]->IsValid()) { + patternValid = false; + break; + } + + if (context.objectPatternValidatorType == + Context::kPatternValidatorOnly) { + if (!patternValid) { + context.error_handler.PropertyViolations( + context.patternPropertiesValidators, count); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetPatternPropertiesString()); + } + } else if (context.objectPatternValidatorType == + Context::kPatternValidatorWithProperty) { + if (!patternValid || !otherValid) { + context.error_handler.PropertyViolations( + context.patternPropertiesValidators, count + 1); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetPatternPropertiesString()); + } + } else if (!patternValid && + !otherValid) { // kPatternValidatorWithAdditionalProperty) + context.error_handler.PropertyViolations( + context.patternPropertiesValidators, count + 1); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetPatternPropertiesString()); + } + } + + if (enum_) { + const uint64_t h = context.factory.GetHashCode(context.hasher); + for (SizeType i = 0; i < enumCount_; i++) + if (enum_[i] == h) goto foundEnum; + context.error_handler.DisallowedValue(); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetEnumString()); + foundEnum:; + } + + if (allOf_.schemas) + for (SizeType i = allOf_.begin; i < allOf_.begin + allOf_.count; i++) + if (!context.validators[i]->IsValid()) { + context.error_handler.NotAllOf(&context.validators[allOf_.begin], + allOf_.count); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetAllOfString()); + } + + if (anyOf_.schemas) { + for (SizeType i = anyOf_.begin; i < anyOf_.begin + anyOf_.count; i++) + if (context.validators[i]->IsValid()) goto foundAny; + context.error_handler.NoneOf(&context.validators[anyOf_.begin], + anyOf_.count); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetAnyOfString()); + foundAny:; + } + + if (oneOf_.schemas) { + bool oneValid = false; + for (SizeType i = oneOf_.begin; i < oneOf_.begin + oneOf_.count; i++) + if (context.validators[i]->IsValid()) { + if (oneValid) { + context.error_handler.NotOneOf(&context.validators[oneOf_.begin], + oneOf_.count); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetOneOfString()); + } else + oneValid = true; + } + if (!oneValid) { + context.error_handler.NotOneOf(&context.validators[oneOf_.begin], + oneOf_.count); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetOneOfString()); + } + } + + if (not_ && context.validators[notValidatorIndex_]->IsValid()) { + context.error_handler.Disallowed(); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetNotString()); + } + + return true; + } + + bool Null(Context &context) const { + if (!(type_ & (1 << kNullSchemaType))) { + DisallowedType(context, GetNullString()); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetTypeString()); + } + return CreateParallelValidator(context); + } + + bool Bool(Context &context, bool) const { + if (!(type_ & (1 << kBooleanSchemaType))) { + DisallowedType(context, GetBooleanString()); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetTypeString()); + } + return CreateParallelValidator(context); + } + + bool Int(Context &context, int i) const { + if (!CheckInt(context, i)) return false; + return CreateParallelValidator(context); + } + + bool Uint(Context &context, unsigned u) const { + if (!CheckUint(context, u)) return false; + return CreateParallelValidator(context); + } + + bool Int64(Context &context, int64_t i) const { + if (!CheckInt(context, i)) return false; + return CreateParallelValidator(context); + } + + bool Uint64(Context &context, uint64_t u) const { + if (!CheckUint(context, u)) return false; + return CreateParallelValidator(context); + } + + bool Double(Context &context, double d) const { + if (!(type_ & (1 << kNumberSchemaType))) { + DisallowedType(context, GetNumberString()); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetTypeString()); + } + + if (!minimum_.IsNull() && !CheckDoubleMinimum(context, d)) return false; + + if (!maximum_.IsNull() && !CheckDoubleMaximum(context, d)) return false; + + if (!multipleOf_.IsNull() && !CheckDoubleMultipleOf(context, d)) + return false; + + return CreateParallelValidator(context); + } + + bool String(Context &context, const Ch *str, SizeType length, bool) const { + if (!(type_ & (1 << kStringSchemaType))) { + DisallowedType(context, GetStringString()); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetTypeString()); + } + + if (minLength_ != 0 || maxLength_ != SizeType(~0)) { + SizeType count; + if (internal::CountStringCodePoint(str, length, &count)) { + if (count < minLength_) { + context.error_handler.TooShort(str, length, minLength_); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetMinLengthString()); + } + if (count > maxLength_) { + context.error_handler.TooLong(str, length, maxLength_); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetMaxLengthString()); + } + } + } + + if (pattern_ && !IsPatternMatch(pattern_, str, length)) { + context.error_handler.DoesNotMatch(str, length); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetPatternString()); + } + + return CreateParallelValidator(context); + } + + bool StartObject(Context &context) const { + if (!(type_ & (1 << kObjectSchemaType))) { + DisallowedType(context, GetObjectString()); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetTypeString()); + } + + if (hasDependencies_ || hasRequired_) { + context.propertyExist = static_cast( + context.factory.MallocState(sizeof(bool) * propertyCount_)); + std::memset(context.propertyExist, 0, sizeof(bool) * propertyCount_); + } + + if (patternProperties_) { // pre-allocate schema array + SizeType count = + patternPropertyCount_ + 1; // extra for valuePatternValidatorType + context.patternPropertiesSchemas = static_cast( + context.factory.MallocState(sizeof(const SchemaType *) * count)); + context.patternPropertiesSchemaCount = 0; + std::memset(context.patternPropertiesSchemas, 0, + sizeof(SchemaType *) * count); + } + + return CreateParallelValidator(context); + } + + bool Key(Context &context, const Ch *str, SizeType len, bool) const { + if (patternProperties_) { + context.patternPropertiesSchemaCount = 0; + for (SizeType i = 0; i < patternPropertyCount_; i++) + if (patternProperties_[i].pattern && + IsPatternMatch(patternProperties_[i].pattern, str, len)) { + context.patternPropertiesSchemas + [context.patternPropertiesSchemaCount++] = + patternProperties_[i].schema; + context.valueSchema = typeless_; + } + } + + SizeType index = 0; + if (FindPropertyIndex(ValueType(str, len).Move(), &index)) { + if (context.patternPropertiesSchemaCount > 0) { + context + .patternPropertiesSchemas[context.patternPropertiesSchemaCount++] = + properties_[index].schema; + context.valueSchema = typeless_; + context.valuePatternValidatorType = + Context::kPatternValidatorWithProperty; + } else + context.valueSchema = properties_[index].schema; + + if (context.propertyExist) context.propertyExist[index] = true; + + return true; + } + + if (additionalPropertiesSchema_) { + if (additionalPropertiesSchema_ && + context.patternPropertiesSchemaCount > 0) { + context + .patternPropertiesSchemas[context.patternPropertiesSchemaCount++] = + additionalPropertiesSchema_; + context.valueSchema = typeless_; + context.valuePatternValidatorType = + Context::kPatternValidatorWithAdditionalProperty; + } else + context.valueSchema = additionalPropertiesSchema_; + return true; + } else if (additionalProperties_) { + context.valueSchema = typeless_; + return true; + } + + if (context.patternPropertiesSchemaCount == + 0) { // patternProperties are not additional properties + context.error_handler.DisallowedProperty(str, len); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetAdditionalPropertiesString()); + } + + return true; + } + + bool EndObject(Context &context, SizeType memberCount) const { + if (hasRequired_) { + context.error_handler.StartMissingProperties(); + for (SizeType index = 0; index < propertyCount_; index++) + if (properties_[index].required && !context.propertyExist[index]) + if (properties_[index].schema->defaultValueLength_ == 0) + context.error_handler.AddMissingProperty(properties_[index].name); + if (context.error_handler.EndMissingProperties()) + RAPIDJSON_INVALID_KEYWORD_RETURN(GetRequiredString()); + } + + if (memberCount < minProperties_) { + context.error_handler.TooFewProperties(memberCount, minProperties_); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetMinPropertiesString()); + } + + if (memberCount > maxProperties_) { + context.error_handler.TooManyProperties(memberCount, maxProperties_); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetMaxPropertiesString()); + } + + if (hasDependencies_) { + context.error_handler.StartDependencyErrors(); + for (SizeType sourceIndex = 0; sourceIndex < propertyCount_; + sourceIndex++) { + const Property &source = properties_[sourceIndex]; + if (context.propertyExist[sourceIndex]) { + if (source.dependencies) { + context.error_handler.StartMissingDependentProperties(); + for (SizeType targetIndex = 0; targetIndex < propertyCount_; + targetIndex++) + if (source.dependencies[targetIndex] && + !context.propertyExist[targetIndex]) + context.error_handler.AddMissingDependentProperty( + properties_[targetIndex].name); + context.error_handler.EndMissingDependentProperties(source.name); + } else if (source.dependenciesSchema) { + ISchemaValidator *dependenciesValidator = + context.validators[source.dependenciesValidatorIndex]; + if (!dependenciesValidator->IsValid()) + context.error_handler.AddDependencySchemaError( + source.name, dependenciesValidator); + } + } + } + if (context.error_handler.EndDependencyErrors()) + RAPIDJSON_INVALID_KEYWORD_RETURN(GetDependenciesString()); + } + + return true; + } + + bool StartArray(Context &context) const { + if (!(type_ & (1 << kArraySchemaType))) { + DisallowedType(context, GetArrayString()); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetTypeString()); + } + + context.arrayElementIndex = 0; + context.inArray = true; + + return CreateParallelValidator(context); + } + + bool EndArray(Context &context, SizeType elementCount) const { + context.inArray = false; + + if (elementCount < minItems_) { + context.error_handler.TooFewItems(elementCount, minItems_); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetMinItemsString()); + } + + if (elementCount > maxItems_) { + context.error_handler.TooManyItems(elementCount, maxItems_); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetMaxItemsString()); + } + + return true; + } + +// Generate functions for string literal according to Ch +#define RAPIDJSON_STRING_(name, ...) \ + static const ValueType &Get##name##String() { \ + static const Ch s[] = {__VA_ARGS__, '\0'}; \ + static const ValueType v( \ + s, static_cast(sizeof(s) / sizeof(Ch) - 1)); \ + return v; \ + } + + RAPIDJSON_STRING_(Null, 'n', 'u', 'l', 'l') + RAPIDJSON_STRING_(Boolean, 'b', 'o', 'o', 'l', 'e', 'a', 'n') + RAPIDJSON_STRING_(Object, 'o', 'b', 'j', 'e', 'c', 't') + RAPIDJSON_STRING_(Array, 'a', 'r', 'r', 'a', 'y') + RAPIDJSON_STRING_(String, 's', 't', 'r', 'i', 'n', 'g') + RAPIDJSON_STRING_(Number, 'n', 'u', 'm', 'b', 'e', 'r') + RAPIDJSON_STRING_(Integer, 'i', 'n', 't', 'e', 'g', 'e', 'r') + RAPIDJSON_STRING_(Type, 't', 'y', 'p', 'e') + RAPIDJSON_STRING_(Enum, 'e', 'n', 'u', 'm') + RAPIDJSON_STRING_(AllOf, 'a', 'l', 'l', 'O', 'f') + RAPIDJSON_STRING_(AnyOf, 'a', 'n', 'y', 'O', 'f') + RAPIDJSON_STRING_(OneOf, 'o', 'n', 'e', 'O', 'f') + RAPIDJSON_STRING_(Not, 'n', 'o', 't') + RAPIDJSON_STRING_(Properties, 'p', 'r', 'o', 'p', 'e', 'r', 't', 'i', 'e', + 's') + RAPIDJSON_STRING_(Required, 'r', 'e', 'q', 'u', 'i', 'r', 'e', 'd') + RAPIDJSON_STRING_(Dependencies, 'd', 'e', 'p', 'e', 'n', 'd', 'e', 'n', 'c', + 'i', 'e', 's') + RAPIDJSON_STRING_(PatternProperties, 'p', 'a', 't', 't', 'e', 'r', 'n', 'P', + 'r', 'o', 'p', 'e', 'r', 't', 'i', 'e', 's') + RAPIDJSON_STRING_(AdditionalProperties, 'a', 'd', 'd', 'i', 't', 'i', 'o', + 'n', 'a', 'l', 'P', 'r', 'o', 'p', 'e', 'r', 't', 'i', 'e', + 's') + RAPIDJSON_STRING_(MinProperties, 'm', 'i', 'n', 'P', 'r', 'o', 'p', 'e', 'r', + 't', 'i', 'e', 's') + RAPIDJSON_STRING_(MaxProperties, 'm', 'a', 'x', 'P', 'r', 'o', 'p', 'e', 'r', + 't', 'i', 'e', 's') + RAPIDJSON_STRING_(Items, 'i', 't', 'e', 'm', 's') + RAPIDJSON_STRING_(MinItems, 'm', 'i', 'n', 'I', 't', 'e', 'm', 's') + RAPIDJSON_STRING_(MaxItems, 'm', 'a', 'x', 'I', 't', 'e', 'm', 's') + RAPIDJSON_STRING_(AdditionalItems, 'a', 'd', 'd', 'i', 't', 'i', 'o', 'n', + 'a', 'l', 'I', 't', 'e', 'm', 's') + RAPIDJSON_STRING_(UniqueItems, 'u', 'n', 'i', 'q', 'u', 'e', 'I', 't', 'e', + 'm', 's') + RAPIDJSON_STRING_(MinLength, 'm', 'i', 'n', 'L', 'e', 'n', 'g', 't', 'h') + RAPIDJSON_STRING_(MaxLength, 'm', 'a', 'x', 'L', 'e', 'n', 'g', 't', 'h') + RAPIDJSON_STRING_(Pattern, 'p', 'a', 't', 't', 'e', 'r', 'n') + RAPIDJSON_STRING_(Minimum, 'm', 'i', 'n', 'i', 'm', 'u', 'm') + RAPIDJSON_STRING_(Maximum, 'm', 'a', 'x', 'i', 'm', 'u', 'm') + RAPIDJSON_STRING_(ExclusiveMinimum, 'e', 'x', 'c', 'l', 'u', 's', 'i', 'v', + 'e', 'M', 'i', 'n', 'i', 'm', 'u', 'm') + RAPIDJSON_STRING_(ExclusiveMaximum, 'e', 'x', 'c', 'l', 'u', 's', 'i', 'v', + 'e', 'M', 'a', 'x', 'i', 'm', 'u', 'm') + RAPIDJSON_STRING_(MultipleOf, 'm', 'u', 'l', 't', 'i', 'p', 'l', 'e', 'O', + 'f') + RAPIDJSON_STRING_(DefaultValue, 'd', 'e', 'f', 'a', 'u', 'l', 't') + +#undef RAPIDJSON_STRING_ + + private: + enum SchemaValueType { + kNullSchemaType, + kBooleanSchemaType, + kObjectSchemaType, + kArraySchemaType, + kStringSchemaType, + kNumberSchemaType, + kIntegerSchemaType, + kTotalSchemaType + }; + +#if RAPIDJSON_SCHEMA_USE_INTERNALREGEX + typedef internal::GenericRegex RegexType; +#elif RAPIDJSON_SCHEMA_USE_STDREGEX + typedef std::basic_regex RegexType; +#else + typedef char RegexType; +#endif + + struct SchemaArray { + SchemaArray() : schemas(), count() {} + ~SchemaArray() { AllocatorType::Free(schemas); } + const SchemaType **schemas; + SizeType begin; // begin index of context.validators + SizeType count; + }; + + template + void AddUniqueElement(V1 &a, const V2 &v) { + for (typename V1::ConstValueIterator itr = a.Begin(); itr != a.End(); ++itr) + if (*itr == v) return; + V1 c(v, *allocator_); + a.PushBack(c, *allocator_); + } + + static const ValueType *GetMember(const ValueType &value, + const ValueType &name) { + typename ValueType::ConstMemberIterator itr = value.FindMember(name); + return itr != value.MemberEnd() ? &(itr->value) : 0; + } + + static void AssignIfExist(bool &out, const ValueType &value, + const ValueType &name) { + if (const ValueType *v = GetMember(value, name)) + if (v->IsBool()) out = v->GetBool(); + } + + static void AssignIfExist(SizeType &out, const ValueType &value, + const ValueType &name) { + if (const ValueType *v = GetMember(value, name)) + if (v->IsUint64() && v->GetUint64() <= SizeType(~0)) + out = static_cast(v->GetUint64()); + } + + void AssignIfExist(SchemaArray &out, SchemaDocumentType &schemaDocument, + const PointerType &p, const ValueType &value, + const ValueType &name, const ValueType &document) { + if (const ValueType *v = GetMember(value, name)) { + if (v->IsArray() && v->Size() > 0) { + PointerType q = p.Append(name, allocator_); + out.count = v->Size(); + out.schemas = static_cast( + allocator_->Malloc(out.count * sizeof(const Schema *))); + memset(out.schemas, 0, sizeof(Schema *) * out.count); + for (SizeType i = 0; i < out.count; i++) + schemaDocument.CreateSchema(&out.schemas[i], q.Append(i, allocator_), + (*v)[i], document); + out.begin = validatorCount_; + validatorCount_ += out.count; + } + } + } + +#if RAPIDJSON_SCHEMA_USE_INTERNALREGEX + template + RegexType *CreatePattern(const ValueType &value) { + if (value.IsString()) { + RegexType *r = new (allocator_->Malloc(sizeof(RegexType))) + RegexType(value.GetString(), allocator_); + if (!r->IsValid()) { + r->~RegexType(); + AllocatorType::Free(r); + r = 0; + } + return r; + } + return 0; + } + + static bool IsPatternMatch(const RegexType *pattern, const Ch *str, + SizeType) { + GenericRegexSearch rs(*pattern); + return rs.Search(str); + } +#elif RAPIDJSON_SCHEMA_USE_STDREGEX + template + RegexType *CreatePattern(const ValueType &value) { + if (value.IsString()) { + RegexType *r = + static_cast(allocator_->Malloc(sizeof(RegexType))); + try { + return new (r) + RegexType(value.GetString(), std::size_t(value.GetStringLength()), + std::regex_constants::ECMAScript); + } catch (const std::regex_error &) { + AllocatorType::Free(r); + } + } + return 0; + } + + static bool IsPatternMatch(const RegexType *pattern, const Ch *str, + SizeType length) { + std::match_results r; + return std::regex_search(str, str + length, r, *pattern); + } +#else + template + RegexType *CreatePattern(const ValueType &) { + return 0; + } + + static bool IsPatternMatch(const RegexType *, const Ch *, SizeType) { + return true; + } +#endif // RAPIDJSON_SCHEMA_USE_STDREGEX + + void AddType(const ValueType &type) { + if (type == GetNullString()) + type_ |= 1 << kNullSchemaType; + else if (type == GetBooleanString()) + type_ |= 1 << kBooleanSchemaType; + else if (type == GetObjectString()) + type_ |= 1 << kObjectSchemaType; + else if (type == GetArrayString()) + type_ |= 1 << kArraySchemaType; + else if (type == GetStringString()) + type_ |= 1 << kStringSchemaType; + else if (type == GetIntegerString()) + type_ |= 1 << kIntegerSchemaType; + else if (type == GetNumberString()) + type_ |= (1 << kNumberSchemaType) | (1 << kIntegerSchemaType); + } + + bool CreateParallelValidator(Context &context) const { + if (enum_ || context.arrayUniqueness) + context.hasher = context.factory.CreateHasher(); + + if (validatorCount_) { + RAPIDJSON_ASSERT(context.validators == 0); + context.validators = + static_cast(context.factory.MallocState( + sizeof(ISchemaValidator *) * validatorCount_)); + context.validatorCount = validatorCount_; + + if (allOf_.schemas) CreateSchemaValidators(context, allOf_); + + if (anyOf_.schemas) CreateSchemaValidators(context, anyOf_); + + if (oneOf_.schemas) CreateSchemaValidators(context, oneOf_); + + if (not_) + context.validators[notValidatorIndex_] = + context.factory.CreateSchemaValidator(*not_); + + if (hasSchemaDependencies_) { + for (SizeType i = 0; i < propertyCount_; i++) + if (properties_[i].dependenciesSchema) + context.validators[properties_[i].dependenciesValidatorIndex] = + context.factory.CreateSchemaValidator( + *properties_[i].dependenciesSchema); + } + } + + return true; + } + + void CreateSchemaValidators(Context &context, + const SchemaArray &schemas) const { + for (SizeType i = 0; i < schemas.count; i++) + context.validators[schemas.begin + i] = + context.factory.CreateSchemaValidator(*schemas.schemas[i]); + } + + // O(n) + bool FindPropertyIndex(const ValueType &name, SizeType *outIndex) const { + SizeType len = name.GetStringLength(); + const Ch *str = name.GetString(); + for (SizeType index = 0; index < propertyCount_; index++) + if (properties_[index].name.GetStringLength() == len && + (std::memcmp(properties_[index].name.GetString(), str, + sizeof(Ch) * len) == 0)) { + *outIndex = index; + return true; + } + return false; + } + + bool CheckInt(Context &context, int64_t i) const { + if (!(type_ & ((1 << kIntegerSchemaType) | (1 << kNumberSchemaType)))) { + DisallowedType(context, GetIntegerString()); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetTypeString()); + } + + if (!minimum_.IsNull()) { + if (minimum_.IsInt64()) { + if (exclusiveMinimum_ ? i <= minimum_.GetInt64() + : i < minimum_.GetInt64()) { + context.error_handler.BelowMinimum(i, minimum_, exclusiveMinimum_); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetMinimumString()); + } + } else if (minimum_.IsUint64()) { + context.error_handler.BelowMinimum(i, minimum_, exclusiveMinimum_); + RAPIDJSON_INVALID_KEYWORD_RETURN( + GetMinimumString()); // i <= max(int64_t) < minimum.GetUint64() + } else if (!CheckDoubleMinimum(context, static_cast(i))) + return false; + } + + if (!maximum_.IsNull()) { + if (maximum_.IsInt64()) { + if (exclusiveMaximum_ ? i >= maximum_.GetInt64() + : i > maximum_.GetInt64()) { + context.error_handler.AboveMaximum(i, maximum_, exclusiveMaximum_); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetMaximumString()); + } + } else if (maximum_.IsUint64()) { + } + /* do nothing */ // i <= max(int64_t) < maximum_.GetUint64() + else if (!CheckDoubleMaximum(context, static_cast(i))) + return false; + } + + if (!multipleOf_.IsNull()) { + if (multipleOf_.IsUint64()) { + if (static_cast(i >= 0 ? i : -i) % multipleOf_.GetUint64() != + 0) { + context.error_handler.NotMultipleOf(i, multipleOf_); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetMultipleOfString()); + } + } else if (!CheckDoubleMultipleOf(context, static_cast(i))) + return false; + } + + return true; + } + + bool CheckUint(Context &context, uint64_t i) const { + if (!(type_ & ((1 << kIntegerSchemaType) | (1 << kNumberSchemaType)))) { + DisallowedType(context, GetIntegerString()); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetTypeString()); + } + + if (!minimum_.IsNull()) { + if (minimum_.IsUint64()) { + if (exclusiveMinimum_ ? i <= minimum_.GetUint64() + : i < minimum_.GetUint64()) { + context.error_handler.BelowMinimum(i, minimum_, exclusiveMinimum_); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetMinimumString()); + } + } else if (minimum_.IsInt64()) + /* do nothing */; // i >= 0 > minimum.Getint64() + else if (!CheckDoubleMinimum(context, static_cast(i))) + return false; + } + + if (!maximum_.IsNull()) { + if (maximum_.IsUint64()) { + if (exclusiveMaximum_ ? i >= maximum_.GetUint64() + : i > maximum_.GetUint64()) { + context.error_handler.AboveMaximum(i, maximum_, exclusiveMaximum_); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetMaximumString()); + } + } else if (maximum_.IsInt64()) { + context.error_handler.AboveMaximum(i, maximum_, exclusiveMaximum_); + RAPIDJSON_INVALID_KEYWORD_RETURN( + GetMaximumString()); // i >= 0 > maximum_ + } else if (!CheckDoubleMaximum(context, static_cast(i))) + return false; + } + + if (!multipleOf_.IsNull()) { + if (multipleOf_.IsUint64()) { + if (i % multipleOf_.GetUint64() != 0) { + context.error_handler.NotMultipleOf(i, multipleOf_); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetMultipleOfString()); + } + } else if (!CheckDoubleMultipleOf(context, static_cast(i))) + return false; + } + + return true; + } + + bool CheckDoubleMinimum(Context &context, double d) const { + if (exclusiveMinimum_ ? d <= minimum_.GetDouble() + : d < minimum_.GetDouble()) { + context.error_handler.BelowMinimum(d, minimum_, exclusiveMinimum_); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetMinimumString()); + } + return true; + } + + bool CheckDoubleMaximum(Context &context, double d) const { + if (exclusiveMaximum_ ? d >= maximum_.GetDouble() + : d > maximum_.GetDouble()) { + context.error_handler.AboveMaximum(d, maximum_, exclusiveMaximum_); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetMaximumString()); + } + return true; + } + + bool CheckDoubleMultipleOf(Context &context, double d) const { + double a = std::abs(d), b = std::abs(multipleOf_.GetDouble()); + double q = std::floor(a / b); + double r = a - q * b; + if (r > 0.0) { + context.error_handler.NotMultipleOf(d, multipleOf_); + RAPIDJSON_INVALID_KEYWORD_RETURN(GetMultipleOfString()); + } + return true; + } + + void DisallowedType(Context &context, const ValueType &actualType) const { + ErrorHandler &eh = context.error_handler; + eh.StartDisallowedType(); + + if (type_ & (1 << kNullSchemaType)) eh.AddExpectedType(GetNullString()); + if (type_ & (1 << kBooleanSchemaType)) + eh.AddExpectedType(GetBooleanString()); + if (type_ & (1 << kObjectSchemaType)) eh.AddExpectedType(GetObjectString()); + if (type_ & (1 << kArraySchemaType)) eh.AddExpectedType(GetArrayString()); + if (type_ & (1 << kStringSchemaType)) eh.AddExpectedType(GetStringString()); + + if (type_ & (1 << kNumberSchemaType)) + eh.AddExpectedType(GetNumberString()); + else if (type_ & (1 << kIntegerSchemaType)) + eh.AddExpectedType(GetIntegerString()); + + eh.EndDisallowedType(actualType); + } + + struct Property { + Property() + : schema(), + dependenciesSchema(), + dependenciesValidatorIndex(), + dependencies(), + required(false) {} + ~Property() { AllocatorType::Free(dependencies); } + SValue name; + const SchemaType *schema; + const SchemaType *dependenciesSchema; + SizeType dependenciesValidatorIndex; + bool *dependencies; + bool required; + }; + + struct PatternProperty { + PatternProperty() : schema(), pattern() {} + ~PatternProperty() { + if (pattern) { + pattern->~RegexType(); + AllocatorType::Free(pattern); + } + } + const SchemaType *schema; + RegexType *pattern; + }; + + AllocatorType *allocator_; + SValue uri_; + PointerType pointer_; + const SchemaType *typeless_; + uint64_t *enum_; + SizeType enumCount_; + SchemaArray allOf_; + SchemaArray anyOf_; + SchemaArray oneOf_; + const SchemaType *not_; + unsigned type_; // bitmask of kSchemaType + SizeType validatorCount_; + SizeType notValidatorIndex_; + + Property *properties_; + const SchemaType *additionalPropertiesSchema_; + PatternProperty *patternProperties_; + SizeType patternPropertyCount_; + SizeType propertyCount_; + SizeType minProperties_; + SizeType maxProperties_; + bool additionalProperties_; + bool hasDependencies_; + bool hasRequired_; + bool hasSchemaDependencies_; + + const SchemaType *additionalItemsSchema_; + const SchemaType *itemsList_; + const SchemaType **itemsTuple_; + SizeType itemsTupleCount_; + SizeType minItems_; + SizeType maxItems_; + bool additionalItems_; + bool uniqueItems_; + + RegexType *pattern_; + SizeType minLength_; + SizeType maxLength_; + + SValue minimum_; + SValue maximum_; + SValue multipleOf_; + bool exclusiveMinimum_; + bool exclusiveMaximum_; + + SizeType defaultValueLength_; +}; + +template +struct TokenHelper { + RAPIDJSON_FORCEINLINE static void AppendIndexToken(Stack &documentStack, + SizeType index) { + *documentStack.template Push() = '/'; + char buffer[21]; + size_t length = + static_cast((sizeof(SizeType) == 4 ? u32toa(index, buffer) + : u64toa(index, buffer)) - + buffer); + for (size_t i = 0; i < length; i++) + *documentStack.template Push() = static_cast(buffer[i]); + } +}; + +// Partial specialized version for char to prevent buffer copying. +template +struct TokenHelper { + RAPIDJSON_FORCEINLINE static void AppendIndexToken(Stack &documentStack, + SizeType index) { + if (sizeof(SizeType) == 4) { + char *buffer = documentStack.template Push(1 + 10); // '/' + uint + *buffer++ = '/'; + const char *end = internal::u32toa(index, buffer); + documentStack.template Pop( + static_cast(10 - (end - buffer))); + } else { + char *buffer = documentStack.template Push(1 + 20); // '/' + uint64 + *buffer++ = '/'; + const char *end = internal::u64toa(index, buffer); + documentStack.template Pop( + static_cast(20 - (end - buffer))); + } + } +}; + +} // namespace internal + +/////////////////////////////////////////////////////////////////////////////// +// IGenericRemoteSchemaDocumentProvider + +template +class IGenericRemoteSchemaDocumentProvider { + public: + typedef typename SchemaDocumentType::Ch Ch; + + virtual ~IGenericRemoteSchemaDocumentProvider() {} + virtual const SchemaDocumentType *GetRemoteDocument(const Ch *uri, + SizeType length) = 0; +}; + +/////////////////////////////////////////////////////////////////////////////// +// GenericSchemaDocument + +//! JSON schema document. +/*! + A JSON schema document is a compiled version of a JSON schema. + It is basically a tree of internal::Schema. + + \note This is an immutable class (i.e. its instance cannot be modified after + construction). \tparam ValueT Type of JSON value (e.g. \c Value ), which also + determine the encoding. \tparam Allocator Allocator type for allocating + memory of this document. +*/ +template +class GenericSchemaDocument { + public: + typedef ValueT ValueType; + typedef IGenericRemoteSchemaDocumentProvider + IRemoteSchemaDocumentProviderType; + typedef Allocator AllocatorType; + typedef typename ValueType::EncodingType EncodingType; + typedef typename EncodingType::Ch Ch; + typedef internal::Schema SchemaType; + typedef GenericPointer PointerType; + typedef GenericValue URIType; + friend class internal::Schema; + template + friend class GenericSchemaValidator; + + //! Constructor. + /*! + Compile a JSON document into schema document. + + \param document A JSON document as source. + \param uri The base URI of this schema document for purposes of violation + reporting. \param uriLength Length of \c name, in code points. \param + remoteProvider An optional remote schema document provider for resolving + remote reference. Can be null. \param allocator An optional allocator + instance for allocating memory. Can be null. + */ + explicit GenericSchemaDocument( + const ValueType &document, const Ch *uri = 0, SizeType uriLength = 0, + IRemoteSchemaDocumentProviderType *remoteProvider = 0, + Allocator *allocator = 0) + : remoteProvider_(remoteProvider), + allocator_(allocator), + ownAllocator_(), + root_(), + typeless_(), + schemaMap_(allocator, kInitialSchemaMapSize), + schemaRef_(allocator, kInitialSchemaRefSize) { + if (!allocator_) ownAllocator_ = allocator_ = RAPIDJSON_NEW(Allocator)(); + + Ch noUri[1] = {0}; + uri_.SetString(uri ? uri : noUri, uriLength, *allocator_); + + typeless_ = + static_cast(allocator_->Malloc(sizeof(SchemaType))); + new (typeless_) + SchemaType(this, PointerType(), ValueType(kObjectType).Move(), + ValueType(kObjectType).Move(), allocator_); + + // Generate root schema, it will call CreateSchema() to create sub-schemas, + // And call AddRefSchema() if there are $ref. + CreateSchemaRecursive(&root_, PointerType(), document, document); + + // Resolve $ref + while (!schemaRef_.Empty()) { + SchemaRefEntry *refEntry = schemaRef_.template Pop(1); + if (const SchemaType *s = GetSchema(refEntry->target)) { + if (refEntry->schema) *refEntry->schema = s; + + // Create entry in map if not exist + if (!GetSchema(refEntry->source)) { + new (schemaMap_.template Push()) SchemaEntry( + refEntry->source, const_cast(s), false, allocator_); + } + } else if (refEntry->schema) + *refEntry->schema = typeless_; + + refEntry->~SchemaRefEntry(); + } + + RAPIDJSON_ASSERT(root_ != 0); + + schemaRef_.ShrinkToFit(); // Deallocate all memory for ref + } + +#if RAPIDJSON_HAS_CXX11_RVALUE_REFS + //! Move constructor in C++11 + GenericSchemaDocument(GenericSchemaDocument &&rhs) RAPIDJSON_NOEXCEPT + : remoteProvider_(rhs.remoteProvider_), + allocator_(rhs.allocator_), + ownAllocator_(rhs.ownAllocator_), + root_(rhs.root_), + typeless_(rhs.typeless_), + schemaMap_(std::move(rhs.schemaMap_)), + schemaRef_(std::move(rhs.schemaRef_)), + uri_(std::move(rhs.uri_)) { + rhs.remoteProvider_ = 0; + rhs.allocator_ = 0; + rhs.ownAllocator_ = 0; + rhs.typeless_ = 0; + } +#endif + + //! Destructor + ~GenericSchemaDocument() { + while (!schemaMap_.Empty()) + schemaMap_.template Pop(1)->~SchemaEntry(); + + if (typeless_) { + typeless_->~SchemaType(); + Allocator::Free(typeless_); + } + + RAPIDJSON_DELETE(ownAllocator_); + } + + const URIType &GetURI() const { return uri_; } + + //! Get the root schema. + const SchemaType &GetRoot() const { return *root_; } + + private: + //! Prohibit copying + GenericSchemaDocument(const GenericSchemaDocument &); + //! Prohibit assignment + GenericSchemaDocument &operator=(const GenericSchemaDocument &); + + struct SchemaRefEntry { + SchemaRefEntry(const PointerType &s, const PointerType &t, + const SchemaType **outSchema, Allocator *allocator) + : source(s, allocator), target(t, allocator), schema(outSchema) {} + PointerType source; + PointerType target; + const SchemaType **schema; + }; + + struct SchemaEntry { + SchemaEntry(const PointerType &p, SchemaType *s, bool o, + Allocator *allocator) + : pointer(p, allocator), schema(s), owned(o) {} + ~SchemaEntry() { + if (owned) { + schema->~SchemaType(); + Allocator::Free(schema); + } + } + PointerType pointer; + SchemaType *schema; + bool owned; + }; + + void CreateSchemaRecursive(const SchemaType **schema, + const PointerType &pointer, const ValueType &v, + const ValueType &document) { + if (schema) *schema = typeless_; + + if (v.GetType() == kObjectType) { + const SchemaType *s = GetSchema(pointer); + if (!s) CreateSchema(schema, pointer, v, document); + + for (typename ValueType::ConstMemberIterator itr = v.MemberBegin(); + itr != v.MemberEnd(); ++itr) + CreateSchemaRecursive(0, pointer.Append(itr->name, allocator_), + itr->value, document); + } else if (v.GetType() == kArrayType) + for (SizeType i = 0; i < v.Size(); i++) + CreateSchemaRecursive(0, pointer.Append(i, allocator_), v[i], document); + } + + void CreateSchema(const SchemaType **schema, const PointerType &pointer, + const ValueType &v, const ValueType &document) { + RAPIDJSON_ASSERT(pointer.IsValid()); + if (v.IsObject()) { + if (!HandleRefSchema(pointer, schema, v, document)) { + SchemaType *s = new (allocator_->Malloc(sizeof(SchemaType))) + SchemaType(this, pointer, v, document, allocator_); + new (schemaMap_.template Push()) + SchemaEntry(pointer, s, true, allocator_); + if (schema) *schema = s; + } + } + } + + bool HandleRefSchema(const PointerType &source, const SchemaType **schema, + const ValueType &v, const ValueType &document) { + static const Ch kRefString[] = {'$', 'r', 'e', 'f', '\0'}; + static const ValueType kRefValue(kRefString, 4); + + typename ValueType::ConstMemberIterator itr = v.FindMember(kRefValue); + if (itr == v.MemberEnd()) return false; + + if (itr->value.IsString()) { + SizeType len = itr->value.GetStringLength(); + if (len > 0) { + const Ch *s = itr->value.GetString(); + SizeType i = 0; + while (i < len && s[i] != '#') // Find the first # + i++; + + if (i > 0) { // Remote reference, resolve immediately + if (remoteProvider_) { + if (const GenericSchemaDocument *remoteDocument = + remoteProvider_->GetRemoteDocument(s, i)) { + PointerType pointer(&s[i], len - i, allocator_); + if (pointer.IsValid()) { + if (const SchemaType *sc = remoteDocument->GetSchema(pointer)) { + if (schema) *schema = sc; + new (schemaMap_.template Push()) SchemaEntry( + source, const_cast(sc), false, allocator_); + return true; + } + } + } + } + } else if (s[i] == '#') { // Local reference, defer resolution + PointerType pointer(&s[i], len - i, allocator_); + if (pointer.IsValid()) { + if (const ValueType *nv = pointer.Get(document)) + if (HandleRefSchema(source, schema, *nv, document)) return true; + + new (schemaRef_.template Push()) + SchemaRefEntry(source, pointer, schema, allocator_); + return true; + } + } + } + } + return false; + } + + const SchemaType *GetSchema(const PointerType &pointer) const { + for (const SchemaEntry *target = schemaMap_.template Bottom(); + target != schemaMap_.template End(); ++target) + if (pointer == target->pointer) return target->schema; + return 0; + } + + PointerType GetPointer(const SchemaType *schema) const { + for (const SchemaEntry *target = schemaMap_.template Bottom(); + target != schemaMap_.template End(); ++target) + if (schema == target->schema) return target->pointer; + return PointerType(); + } + + const SchemaType *GetTypeless() const { return typeless_; } + + static const size_t kInitialSchemaMapSize = 64; + static const size_t kInitialSchemaRefSize = 64; + + IRemoteSchemaDocumentProviderType *remoteProvider_; + Allocator *allocator_; + Allocator *ownAllocator_; + const SchemaType *root_; //!< Root schema. + SchemaType *typeless_; + internal::Stack schemaMap_; // Stores created Pointer -> Schemas + internal::Stack + schemaRef_; // Stores Pointer from $ref and schema which holds the $ref + URIType uri_; +}; + +//! GenericSchemaDocument using Value type. +typedef GenericSchemaDocument SchemaDocument; +//! IGenericRemoteSchemaDocumentProvider using SchemaDocument. +typedef IGenericRemoteSchemaDocumentProvider + IRemoteSchemaDocumentProvider; + +/////////////////////////////////////////////////////////////////////////////// +// GenericSchemaValidator + +//! JSON Schema Validator. +/*! + A SAX style JSON schema validator. + It uses a \c GenericSchemaDocument to validate SAX events. + It delegates the incoming SAX events to an output handler. + The default output handler does nothing. + It can be reused multiple times by calling \c Reset(). + + \tparam SchemaDocumentType Type of schema document. + \tparam OutputHandler Type of output handler. Default handler does nothing. + \tparam StateAllocator Allocator for storing the internal validation states. +*/ +template , + typename StateAllocator = CrtAllocator> +class GenericSchemaValidator : public internal::ISchemaStateFactory< + typename SchemaDocumentType::SchemaType>, + public internal::ISchemaValidator, + public internal::IValidationErrorHandler< + typename SchemaDocumentType::SchemaType> { + public: + typedef typename SchemaDocumentType::SchemaType SchemaType; + typedef typename SchemaDocumentType::PointerType PointerType; + typedef typename SchemaType::EncodingType EncodingType; + typedef typename SchemaType::SValue SValue; + typedef typename EncodingType::Ch Ch; + typedef GenericStringRef StringRefType; + typedef GenericValue ValueType; + + //! Constructor without output handler. + /*! + \param schemaDocument The schema document to conform to. + \param allocator Optional allocator for storing internal validation + states. \param schemaStackCapacity Optional initial capacity of schema path + stack. \param documentStackCapacity Optional initial capacity of document + path stack. + */ + GenericSchemaValidator( + const SchemaDocumentType &schemaDocument, StateAllocator *allocator = 0, + size_t schemaStackCapacity = kDefaultSchemaStackCapacity, + size_t documentStackCapacity = kDefaultDocumentStackCapacity) + : schemaDocument_(&schemaDocument), + root_(schemaDocument.GetRoot()), + stateAllocator_(allocator), + ownStateAllocator_(0), + schemaStack_(allocator, schemaStackCapacity), + documentStack_(allocator, documentStackCapacity), + outputHandler_(0), + error_(kObjectType), + currentError_(), + missingDependents_(), + valid_(true) +#if RAPIDJSON_SCHEMA_VERBOSE + , + depth_(0) +#endif + { + } + + //! Constructor with output handler. + /*! + \param schemaDocument The schema document to conform to. + \param allocator Optional allocator for storing internal validation + states. \param schemaStackCapacity Optional initial capacity of schema path + stack. \param documentStackCapacity Optional initial capacity of document + path stack. + */ + GenericSchemaValidator( + const SchemaDocumentType &schemaDocument, OutputHandler &outputHandler, + StateAllocator *allocator = 0, + size_t schemaStackCapacity = kDefaultSchemaStackCapacity, + size_t documentStackCapacity = kDefaultDocumentStackCapacity) + : schemaDocument_(&schemaDocument), + root_(schemaDocument.GetRoot()), + stateAllocator_(allocator), + ownStateAllocator_(0), + schemaStack_(allocator, schemaStackCapacity), + documentStack_(allocator, documentStackCapacity), + outputHandler_(&outputHandler), + error_(kObjectType), + currentError_(), + missingDependents_(), + valid_(true) +#if RAPIDJSON_SCHEMA_VERBOSE + , + depth_(0) +#endif + { + } + + //! Destructor. + ~GenericSchemaValidator() { + Reset(); + RAPIDJSON_DELETE(ownStateAllocator_); + } + + //! Reset the internal states. + void Reset() { + while (!schemaStack_.Empty()) PopSchema(); + documentStack_.Clear(); + error_.SetObject(); + currentError_.SetNull(); + missingDependents_.SetNull(); + valid_ = true; + } + + //! Checks whether the current state is valid. + // Implementation of ISchemaValidator + virtual bool IsValid() const { return valid_; } + + //! Gets the error object. + ValueType &GetError() { return error_; } + const ValueType &GetError() const { return error_; } + + //! Gets the JSON pointer pointed to the invalid schema. + PointerType GetInvalidSchemaPointer() const { + return schemaStack_.Empty() ? PointerType() : CurrentSchema().GetPointer(); + } + + //! Gets the keyword of invalid schema. + const Ch *GetInvalidSchemaKeyword() const { + return schemaStack_.Empty() ? 0 : CurrentContext().invalidKeyword; + } + + //! Gets the JSON pointer pointed to the invalid value. + PointerType GetInvalidDocumentPointer() const { + if (documentStack_.Empty()) { + return PointerType(); + } else { + return PointerType(documentStack_.template Bottom(), + documentStack_.GetSize() / sizeof(Ch)); + } + } + + void NotMultipleOf(int64_t actual, const SValue &expected) { + AddNumberError(SchemaType::GetMultipleOfString(), ValueType(actual).Move(), + expected); + } + void NotMultipleOf(uint64_t actual, const SValue &expected) { + AddNumberError(SchemaType::GetMultipleOfString(), ValueType(actual).Move(), + expected); + } + void NotMultipleOf(double actual, const SValue &expected) { + AddNumberError(SchemaType::GetMultipleOfString(), ValueType(actual).Move(), + expected); + } + void AboveMaximum(int64_t actual, const SValue &expected, bool exclusive) { + AddNumberError(SchemaType::GetMaximumString(), ValueType(actual).Move(), + expected, + exclusive ? &SchemaType::GetExclusiveMaximumString : 0); + } + void AboveMaximum(uint64_t actual, const SValue &expected, bool exclusive) { + AddNumberError(SchemaType::GetMaximumString(), ValueType(actual).Move(), + expected, + exclusive ? &SchemaType::GetExclusiveMaximumString : 0); + } + void AboveMaximum(double actual, const SValue &expected, bool exclusive) { + AddNumberError(SchemaType::GetMaximumString(), ValueType(actual).Move(), + expected, + exclusive ? &SchemaType::GetExclusiveMaximumString : 0); + } + void BelowMinimum(int64_t actual, const SValue &expected, bool exclusive) { + AddNumberError(SchemaType::GetMinimumString(), ValueType(actual).Move(), + expected, + exclusive ? &SchemaType::GetExclusiveMinimumString : 0); + } + void BelowMinimum(uint64_t actual, const SValue &expected, bool exclusive) { + AddNumberError(SchemaType::GetMinimumString(), ValueType(actual).Move(), + expected, + exclusive ? &SchemaType::GetExclusiveMinimumString : 0); + } + void BelowMinimum(double actual, const SValue &expected, bool exclusive) { + AddNumberError(SchemaType::GetMinimumString(), ValueType(actual).Move(), + expected, + exclusive ? &SchemaType::GetExclusiveMinimumString : 0); + } + + void TooLong(const Ch *str, SizeType length, SizeType expected) { + AddNumberError(SchemaType::GetMaxLengthString(), + ValueType(str, length, GetStateAllocator()).Move(), + SValue(expected).Move()); + } + void TooShort(const Ch *str, SizeType length, SizeType expected) { + AddNumberError(SchemaType::GetMinLengthString(), + ValueType(str, length, GetStateAllocator()).Move(), + SValue(expected).Move()); + } + void DoesNotMatch(const Ch *str, SizeType length) { + currentError_.SetObject(); + currentError_.AddMember(GetActualString(), + ValueType(str, length, GetStateAllocator()).Move(), + GetStateAllocator()); + AddCurrentError(SchemaType::GetPatternString()); + } + + void DisallowedItem(SizeType index) { + currentError_.SetObject(); + currentError_.AddMember(GetDisallowedString(), ValueType(index).Move(), + GetStateAllocator()); + AddCurrentError(SchemaType::GetAdditionalItemsString(), true); + } + void TooFewItems(SizeType actualCount, SizeType expectedCount) { + AddNumberError(SchemaType::GetMinItemsString(), + ValueType(actualCount).Move(), SValue(expectedCount).Move()); + } + void TooManyItems(SizeType actualCount, SizeType expectedCount) { + AddNumberError(SchemaType::GetMaxItemsString(), + ValueType(actualCount).Move(), SValue(expectedCount).Move()); + } + void DuplicateItems(SizeType index1, SizeType index2) { + ValueType duplicates(kArrayType); + duplicates.PushBack(index1, GetStateAllocator()); + duplicates.PushBack(index2, GetStateAllocator()); + currentError_.SetObject(); + currentError_.AddMember(GetDuplicatesString(), duplicates, + GetStateAllocator()); + AddCurrentError(SchemaType::GetUniqueItemsString(), true); + } + + void TooManyProperties(SizeType actualCount, SizeType expectedCount) { + AddNumberError(SchemaType::GetMaxPropertiesString(), + ValueType(actualCount).Move(), SValue(expectedCount).Move()); + } + void TooFewProperties(SizeType actualCount, SizeType expectedCount) { + AddNumberError(SchemaType::GetMinPropertiesString(), + ValueType(actualCount).Move(), SValue(expectedCount).Move()); + } + void StartMissingProperties() { currentError_.SetArray(); } + void AddMissingProperty(const SValue &name) { + currentError_.PushBack(ValueType(name, GetStateAllocator()).Move(), + GetStateAllocator()); + } + bool EndMissingProperties() { + if (currentError_.Empty()) return false; + ValueType error(kObjectType); + error.AddMember(GetMissingString(), currentError_, GetStateAllocator()); + currentError_ = error; + AddCurrentError(SchemaType::GetRequiredString()); + return true; + } + void PropertyViolations(ISchemaValidator **subvalidators, SizeType count) { + for (SizeType i = 0; i < count; ++i) + MergeError( + static_cast(subvalidators[i])->GetError()); + } + void DisallowedProperty(const Ch *name, SizeType length) { + currentError_.SetObject(); + currentError_.AddMember(GetDisallowedString(), + ValueType(name, length, GetStateAllocator()).Move(), + GetStateAllocator()); + AddCurrentError(SchemaType::GetAdditionalPropertiesString(), true); + } + + void StartDependencyErrors() { currentError_.SetObject(); } + void StartMissingDependentProperties() { missingDependents_.SetArray(); } + void AddMissingDependentProperty(const SValue &targetName) { + missingDependents_.PushBack( + ValueType(targetName, GetStateAllocator()).Move(), GetStateAllocator()); + } + void EndMissingDependentProperties(const SValue &sourceName) { + if (!missingDependents_.Empty()) + currentError_.AddMember(ValueType(sourceName, GetStateAllocator()).Move(), + missingDependents_, GetStateAllocator()); + } + void AddDependencySchemaError(const SValue &sourceName, + ISchemaValidator *subvalidator) { + currentError_.AddMember( + ValueType(sourceName, GetStateAllocator()).Move(), + static_cast(subvalidator)->GetError(), + GetStateAllocator()); + } + bool EndDependencyErrors() { + if (currentError_.ObjectEmpty()) return false; + ValueType error(kObjectType); + error.AddMember(GetErrorsString(), currentError_, GetStateAllocator()); + currentError_ = error; + AddCurrentError(SchemaType::GetDependenciesString()); + return true; + } + + void DisallowedValue() { + currentError_.SetObject(); + AddCurrentError(SchemaType::GetEnumString()); + } + void StartDisallowedType() { currentError_.SetArray(); } + void AddExpectedType(const typename SchemaType::ValueType &expectedType) { + currentError_.PushBack(ValueType(expectedType, GetStateAllocator()).Move(), + GetStateAllocator()); + } + void EndDisallowedType(const typename SchemaType::ValueType &actualType) { + ValueType error(kObjectType); + error.AddMember(GetExpectedString(), currentError_, GetStateAllocator()); + error.AddMember(GetActualString(), + ValueType(actualType, GetStateAllocator()).Move(), + GetStateAllocator()); + currentError_ = error; + AddCurrentError(SchemaType::GetTypeString()); + } + void NotAllOf(ISchemaValidator **subvalidators, SizeType count) { + for (SizeType i = 0; i < count; ++i) { + MergeError( + static_cast(subvalidators[i])->GetError()); + } + } + void NoneOf(ISchemaValidator **subvalidators, SizeType count) { + AddErrorArray(SchemaType::GetAnyOfString(), subvalidators, count); + } + void NotOneOf(ISchemaValidator **subvalidators, SizeType count) { + AddErrorArray(SchemaType::GetOneOfString(), subvalidators, count); + } + void Disallowed() { + currentError_.SetObject(); + AddCurrentError(SchemaType::GetNotString()); + } + +#define RAPIDJSON_STRING_(name, ...) \ + static const StringRefType &Get##name##String() { \ + static const Ch s[] = {__VA_ARGS__, '\0'}; \ + static const StringRefType v( \ + s, static_cast(sizeof(s) / sizeof(Ch) - 1)); \ + return v; \ + } + + RAPIDJSON_STRING_(InstanceRef, 'i', 'n', 's', 't', 'a', 'n', 'c', 'e', 'R', + 'e', 'f') + RAPIDJSON_STRING_(SchemaRef, 's', 'c', 'h', 'e', 'm', 'a', 'R', 'e', 'f') + RAPIDJSON_STRING_(Expected, 'e', 'x', 'p', 'e', 'c', 't', 'e', 'd') + RAPIDJSON_STRING_(Actual, 'a', 'c', 't', 'u', 'a', 'l') + RAPIDJSON_STRING_(Disallowed, 'd', 'i', 's', 'a', 'l', 'l', 'o', 'w', 'e', + 'd') + RAPIDJSON_STRING_(Missing, 'm', 'i', 's', 's', 'i', 'n', 'g') + RAPIDJSON_STRING_(Errors, 'e', 'r', 'r', 'o', 'r', 's') + RAPIDJSON_STRING_(Duplicates, 'd', 'u', 'p', 'l', 'i', 'c', 'a', 't', 'e', + 's') + +#undef RAPIDJSON_STRING_ + +#if RAPIDJSON_SCHEMA_VERBOSE +#define RAPIDJSON_SCHEMA_HANDLE_BEGIN_VERBOSE_() \ + RAPIDJSON_MULTILINEMACRO_BEGIN \ + *documentStack_.template Push() = '\0'; \ + documentStack_.template Pop(1); \ + internal::PrintInvalidDocument(documentStack_.template Bottom()); \ + RAPIDJSON_MULTILINEMACRO_END +#else +#define RAPIDJSON_SCHEMA_HANDLE_BEGIN_VERBOSE_() +#endif + +#define RAPIDJSON_SCHEMA_HANDLE_BEGIN_(method, arg1) \ + if (!valid_) return false; \ + if (!BeginValue() || !CurrentSchema().method arg1) { \ + RAPIDJSON_SCHEMA_HANDLE_BEGIN_VERBOSE_(); \ + return valid_ = false; \ + } + +#define RAPIDJSON_SCHEMA_HANDLE_PARALLEL_(method, arg2) \ + for (Context *context = schemaStack_.template Bottom(); \ + context != schemaStack_.template End(); context++) { \ + if (context->hasher) \ + static_cast(context->hasher)->method arg2; \ + if (context->validators) \ + for (SizeType i_ = 0; i_ < context->validatorCount; i_++) \ + static_cast(context->validators[i_]) \ + ->method arg2; \ + if (context->patternPropertiesValidators) \ + for (SizeType i_ = 0; i_ < context->patternPropertiesValidatorCount; \ + i_++) \ + static_cast( \ + context->patternPropertiesValidators[i_]) \ + ->method arg2; \ + } + +#define RAPIDJSON_SCHEMA_HANDLE_END_(method, arg2) \ + return valid_ = EndValue() && (!outputHandler_ || outputHandler_->method arg2) + +#define RAPIDJSON_SCHEMA_HANDLE_VALUE_(method, arg1, arg2) \ + RAPIDJSON_SCHEMA_HANDLE_BEGIN_(method, arg1); \ + RAPIDJSON_SCHEMA_HANDLE_PARALLEL_(method, arg2); \ + RAPIDJSON_SCHEMA_HANDLE_END_(method, arg2) + + bool Null() { RAPIDJSON_SCHEMA_HANDLE_VALUE_(Null, (CurrentContext()), ()); } + bool Bool(bool b) { + RAPIDJSON_SCHEMA_HANDLE_VALUE_(Bool, (CurrentContext(), b), (b)); + } + bool Int(int i) { + RAPIDJSON_SCHEMA_HANDLE_VALUE_(Int, (CurrentContext(), i), (i)); + } + bool Uint(unsigned u) { + RAPIDJSON_SCHEMA_HANDLE_VALUE_(Uint, (CurrentContext(), u), (u)); + } + bool Int64(int64_t i) { + RAPIDJSON_SCHEMA_HANDLE_VALUE_(Int64, (CurrentContext(), i), (i)); + } + bool Uint64(uint64_t u) { + RAPIDJSON_SCHEMA_HANDLE_VALUE_(Uint64, (CurrentContext(), u), (u)); + } + bool Double(double d) { + RAPIDJSON_SCHEMA_HANDLE_VALUE_(Double, (CurrentContext(), d), (d)); + } + bool RawNumber(const Ch *str, SizeType length, bool copy) { + RAPIDJSON_SCHEMA_HANDLE_VALUE_( + String, (CurrentContext(), str, length, copy), (str, length, copy)); + } + bool String(const Ch *str, SizeType length, bool copy) { + RAPIDJSON_SCHEMA_HANDLE_VALUE_( + String, (CurrentContext(), str, length, copy), (str, length, copy)); + } + + bool StartObject() { + RAPIDJSON_SCHEMA_HANDLE_BEGIN_(StartObject, (CurrentContext())); + RAPIDJSON_SCHEMA_HANDLE_PARALLEL_(StartObject, ()); + return valid_ = !outputHandler_ || outputHandler_->StartObject(); + } + + bool Key(const Ch *str, SizeType len, bool copy) { + if (!valid_) return false; + AppendToken(str, len); + if (!CurrentSchema().Key(CurrentContext(), str, len, copy)) + return valid_ = false; + RAPIDJSON_SCHEMA_HANDLE_PARALLEL_(Key, (str, len, copy)); + return valid_ = !outputHandler_ || outputHandler_->Key(str, len, copy); + } + + bool EndObject(SizeType memberCount) { + if (!valid_) return false; + RAPIDJSON_SCHEMA_HANDLE_PARALLEL_(EndObject, (memberCount)); + if (!CurrentSchema().EndObject(CurrentContext(), memberCount)) + return valid_ = false; + RAPIDJSON_SCHEMA_HANDLE_END_(EndObject, (memberCount)); + } + + bool StartArray() { + RAPIDJSON_SCHEMA_HANDLE_BEGIN_(StartArray, (CurrentContext())); + RAPIDJSON_SCHEMA_HANDLE_PARALLEL_(StartArray, ()); + return valid_ = !outputHandler_ || outputHandler_->StartArray(); + } + + bool EndArray(SizeType elementCount) { + if (!valid_) return false; + RAPIDJSON_SCHEMA_HANDLE_PARALLEL_(EndArray, (elementCount)); + if (!CurrentSchema().EndArray(CurrentContext(), elementCount)) + return valid_ = false; + RAPIDJSON_SCHEMA_HANDLE_END_(EndArray, (elementCount)); + } + +#undef RAPIDJSON_SCHEMA_HANDLE_BEGIN_VERBOSE_ +#undef RAPIDJSON_SCHEMA_HANDLE_BEGIN_ +#undef RAPIDJSON_SCHEMA_HANDLE_PARALLEL_ +#undef RAPIDJSON_SCHEMA_HANDLE_VALUE_ + + // Implementation of ISchemaStateFactory + virtual ISchemaValidator *CreateSchemaValidator(const SchemaType &root) { + return new (GetStateAllocator().Malloc(sizeof(GenericSchemaValidator))) + GenericSchemaValidator(*schemaDocument_, root, + documentStack_.template Bottom(), + documentStack_.GetSize(), +#if RAPIDJSON_SCHEMA_VERBOSE + depth_ + 1, +#endif + &GetStateAllocator()); + } + + virtual void DestroySchemaValidator(ISchemaValidator *validator) { + GenericSchemaValidator *v = + static_cast(validator); + v->~GenericSchemaValidator(); + StateAllocator::Free(v); + } + + virtual void *CreateHasher() { + return new (GetStateAllocator().Malloc(sizeof(HasherType))) + HasherType(&GetStateAllocator()); + } + + virtual uint64_t GetHashCode(void *hasher) { + return static_cast(hasher)->GetHashCode(); + } + + virtual void DestroryHasher(void *hasher) { + HasherType *h = static_cast(hasher); + h->~HasherType(); + StateAllocator::Free(h); + } + + virtual void *MallocState(size_t size) { + return GetStateAllocator().Malloc(size); + } + + virtual void FreeState(void *p) { StateAllocator::Free(p); } + + private: + typedef typename SchemaType::Context Context; + typedef GenericValue, StateAllocator> HashCodeArray; + typedef internal::Hasher HasherType; + + GenericSchemaValidator( + const SchemaDocumentType &schemaDocument, const SchemaType &root, + const char *basePath, size_t basePathSize, +#if RAPIDJSON_SCHEMA_VERBOSE + unsigned depth, +#endif + StateAllocator *allocator = 0, + size_t schemaStackCapacity = kDefaultSchemaStackCapacity, + size_t documentStackCapacity = kDefaultDocumentStackCapacity) + : schemaDocument_(&schemaDocument), + root_(root), + stateAllocator_(allocator), + ownStateAllocator_(0), + schemaStack_(allocator, schemaStackCapacity), + documentStack_(allocator, documentStackCapacity), + outputHandler_(0), + error_(kObjectType), + currentError_(), + missingDependents_(), + valid_(true) +#if RAPIDJSON_SCHEMA_VERBOSE + , + depth_(depth) +#endif + { + if (basePath && basePathSize) + memcpy(documentStack_.template Push(basePathSize), basePath, + basePathSize); + } + + StateAllocator &GetStateAllocator() { + if (!stateAllocator_) + stateAllocator_ = ownStateAllocator_ = RAPIDJSON_NEW(StateAllocator)(); + return *stateAllocator_; + } + + bool BeginValue() { + if (schemaStack_.Empty()) + PushSchema(root_); + else { + if (CurrentContext().inArray) + internal::TokenHelper, + Ch>::AppendIndexToken(documentStack_, + CurrentContext() + .arrayElementIndex); + + if (!CurrentSchema().BeginValue(CurrentContext())) return false; + + SizeType count = CurrentContext().patternPropertiesSchemaCount; + const SchemaType **sa = CurrentContext().patternPropertiesSchemas; + typename Context::PatternValidatorType patternValidatorType = + CurrentContext().valuePatternValidatorType; + bool valueUniqueness = CurrentContext().valueUniqueness; + RAPIDJSON_ASSERT(CurrentContext().valueSchema); + PushSchema(*CurrentContext().valueSchema); + + if (count > 0) { + CurrentContext().objectPatternValidatorType = patternValidatorType; + ISchemaValidator **&va = CurrentContext().patternPropertiesValidators; + SizeType &validatorCount = + CurrentContext().patternPropertiesValidatorCount; + va = static_cast( + MallocState(sizeof(ISchemaValidator *) * count)); + for (SizeType i = 0; i < count; i++) + va[validatorCount++] = CreateSchemaValidator(*sa[i]); + } + + CurrentContext().arrayUniqueness = valueUniqueness; + } + return true; + } + + bool EndValue() { + if (!CurrentSchema().EndValue(CurrentContext())) return false; + +#if RAPIDJSON_SCHEMA_VERBOSE + GenericStringBuffer sb; + schemaDocument_->GetPointer(&CurrentSchema()).Stringify(sb); + + *documentStack_.template Push() = '\0'; + documentStack_.template Pop(1); + internal::PrintValidatorPointers(depth_, sb.GetString(), + documentStack_.template Bottom()); +#endif + + uint64_t h = + CurrentContext().arrayUniqueness + ? static_cast(CurrentContext().hasher)->GetHashCode() + : 0; + + PopSchema(); + + if (!schemaStack_.Empty()) { + Context &context = CurrentContext(); + if (context.valueUniqueness) { + HashCodeArray *a = + static_cast(context.arrayElementHashCodes); + if (!a) + CurrentContext().arrayElementHashCodes = a = + new (GetStateAllocator().Malloc(sizeof(HashCodeArray))) + HashCodeArray(kArrayType); + for (typename HashCodeArray::ConstValueIterator itr = a->Begin(); + itr != a->End(); ++itr) + if (itr->GetUint64() == h) { + DuplicateItems(static_cast(itr - a->Begin()), a->Size()); + RAPIDJSON_INVALID_KEYWORD_RETURN( + SchemaType::GetUniqueItemsString()); + } + a->PushBack(h, GetStateAllocator()); + } + } + + // Remove the last token of document pointer + while (!documentStack_.Empty() && + *documentStack_.template Pop(1) != '/') + ; + + return true; + } + + void AppendToken(const Ch *str, SizeType len) { + documentStack_.template Reserve( + 1 + + len * 2); // worst case all characters are escaped as two characters + *documentStack_.template PushUnsafe() = '/'; + for (SizeType i = 0; i < len; i++) { + if (str[i] == '~') { + *documentStack_.template PushUnsafe() = '~'; + *documentStack_.template PushUnsafe() = '0'; + } else if (str[i] == '/') { + *documentStack_.template PushUnsafe() = '~'; + *documentStack_.template PushUnsafe() = '1'; + } else + *documentStack_.template PushUnsafe() = str[i]; + } + } + + RAPIDJSON_FORCEINLINE void PushSchema(const SchemaType &schema) { + new (schemaStack_.template Push()) Context(*this, *this, &schema); + } + + RAPIDJSON_FORCEINLINE void PopSchema() { + Context *c = schemaStack_.template Pop(1); + if (HashCodeArray *a = + static_cast(c->arrayElementHashCodes)) { + a->~HashCodeArray(); + StateAllocator::Free(a); + } + c->~Context(); + } + + void AddErrorLocation(ValueType &result, bool parent) { + GenericStringBuffer sb; + PointerType instancePointer = GetInvalidDocumentPointer(); + ((parent && instancePointer.GetTokenCount() > 0) + ? PointerType(instancePointer.GetTokens(), + instancePointer.GetTokenCount() - 1) + : instancePointer) + .StringifyUriFragment(sb); + ValueType instanceRef(sb.GetString(), + static_cast(sb.GetSize() / sizeof(Ch)), + GetStateAllocator()); + result.AddMember(GetInstanceRefString(), instanceRef, GetStateAllocator()); + sb.Clear(); + memcpy(sb.Push(CurrentSchema().GetURI().GetStringLength()), + CurrentSchema().GetURI().GetString(), + CurrentSchema().GetURI().GetStringLength() * sizeof(Ch)); + GetInvalidSchemaPointer().StringifyUriFragment(sb); + ValueType schemaRef(sb.GetString(), + static_cast(sb.GetSize() / sizeof(Ch)), + GetStateAllocator()); + result.AddMember(GetSchemaRefString(), schemaRef, GetStateAllocator()); + } + + void AddError(ValueType &keyword, ValueType &error) { + typename ValueType::MemberIterator member = error_.FindMember(keyword); + if (member == error_.MemberEnd()) + error_.AddMember(keyword, error, GetStateAllocator()); + else { + if (member->value.IsObject()) { + ValueType errors(kArrayType); + errors.PushBack(member->value, GetStateAllocator()); + member->value = errors; + } + member->value.PushBack(error, GetStateAllocator()); + } + } + + void AddCurrentError(const typename SchemaType::ValueType &keyword, + bool parent = false) { + AddErrorLocation(currentError_, parent); + AddError(ValueType(keyword, GetStateAllocator(), false).Move(), + currentError_); + } + + void MergeError(ValueType &other) { + for (typename ValueType::MemberIterator it = other.MemberBegin(), + end = other.MemberEnd(); + it != end; ++it) { + AddError(it->name, it->value); + } + } + + void AddNumberError( + const typename SchemaType::ValueType &keyword, ValueType &actual, + const SValue &expected, + const typename SchemaType::ValueType &(*exclusive)() = 0) { + currentError_.SetObject(); + currentError_.AddMember(GetActualString(), actual, GetStateAllocator()); + currentError_.AddMember(GetExpectedString(), + ValueType(expected, GetStateAllocator()).Move(), + GetStateAllocator()); + if (exclusive) + currentError_.AddMember( + ValueType(exclusive(), GetStateAllocator()).Move(), true, + GetStateAllocator()); + AddCurrentError(keyword); + } + + void AddErrorArray(const typename SchemaType::ValueType &keyword, + ISchemaValidator **subvalidators, SizeType count) { + ValueType errors(kArrayType); + for (SizeType i = 0; i < count; ++i) + errors.PushBack( + static_cast(subvalidators[i])->GetError(), + GetStateAllocator()); + currentError_.SetObject(); + currentError_.AddMember(GetErrorsString(), errors, GetStateAllocator()); + AddCurrentError(keyword); + } + + const SchemaType &CurrentSchema() const { + return *schemaStack_.template Top()->schema; + } + Context &CurrentContext() { return *schemaStack_.template Top(); } + const Context &CurrentContext() const { + return *schemaStack_.template Top(); + } + + static const size_t kDefaultSchemaStackCapacity = 1024; + static const size_t kDefaultDocumentStackCapacity = 256; + const SchemaDocumentType *schemaDocument_; + const SchemaType &root_; + StateAllocator *stateAllocator_; + StateAllocator *ownStateAllocator_; + internal::Stack + schemaStack_; //!< stack to store the current path of schema + //!< (BaseSchemaType *) + internal::Stack + documentStack_; //!< stack to store the current path of validating + //!< document (Ch) + OutputHandler *outputHandler_; + ValueType error_; + ValueType currentError_; + ValueType missingDependents_; + bool valid_; +#if RAPIDJSON_SCHEMA_VERBOSE + unsigned depth_; +#endif +}; + +typedef GenericSchemaValidator SchemaValidator; + +/////////////////////////////////////////////////////////////////////////////// +// SchemaValidatingReader + +//! A helper class for parsing with validation. +/*! + This helper class is a functor, designed as a parameter of \ref + GenericDocument::Populate(). + + \tparam parseFlags Combination of \ref ParseFlag. + \tparam InputStream Type of input stream, implementing Stream concept. + \tparam SourceEncoding Encoding of the input stream. + \tparam SchemaDocumentType Type of schema document. + \tparam StackAllocator Allocator type for stack. +*/ +template +class SchemaValidatingReader { + public: + typedef typename SchemaDocumentType::PointerType PointerType; + typedef typename InputStream::Ch Ch; + typedef GenericValue ValueType; + + //! Constructor + /*! + \param is Input stream. + \param sd Schema document. + */ + SchemaValidatingReader(InputStream &is, const SchemaDocumentType &sd) + : is_(is), + sd_(sd), + invalidSchemaKeyword_(), + error_(kObjectType), + isValid_(true) {} + + template + bool operator()(Handler &handler) { + GenericReader + reader; + GenericSchemaValidator validator(sd_, handler); + parseResult_ = reader.template Parse(is_, validator); + + isValid_ = validator.IsValid(); + if (isValid_) { + invalidSchemaPointer_ = PointerType(); + invalidSchemaKeyword_ = 0; + invalidDocumentPointer_ = PointerType(); + error_.SetObject(); + } else { + invalidSchemaPointer_ = validator.GetInvalidSchemaPointer(); + invalidSchemaKeyword_ = validator.GetInvalidSchemaKeyword(); + invalidDocumentPointer_ = validator.GetInvalidDocumentPointer(); + error_.CopyFrom(validator.GetError(), allocator_); + } + + return parseResult_; + } + + const ParseResult &GetParseResult() const { return parseResult_; } + bool IsValid() const { return isValid_; } + const PointerType &GetInvalidSchemaPointer() const { + return invalidSchemaPointer_; + } + const Ch *GetInvalidSchemaKeyword() const { return invalidSchemaKeyword_; } + const PointerType &GetInvalidDocumentPointer() const { + return invalidDocumentPointer_; + } + const ValueType &GetError() const { return error_; } + + private: + InputStream &is_; + const SchemaDocumentType &sd_; + + ParseResult parseResult_; + PointerType invalidSchemaPointer_; + const Ch *invalidSchemaKeyword_; + PointerType invalidDocumentPointer_; + StackAllocator allocator_; + ValueType error_; + bool isValid_; +}; + +RAPIDJSON_NAMESPACE_END +RAPIDJSON_DIAG_POP + +#endif // RAPIDJSON_SCHEMA_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/stream.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/stream.h new file mode 100644 index 0000000..a446c1a --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/stream.h @@ -0,0 +1,242 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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. + +#include "rapidjson.h" + +#ifndef RAPIDJSON_STREAM_H_ +#define RAPIDJSON_STREAM_H_ + +#include "encodings.h" + +RAPIDJSON_NAMESPACE_BEGIN + +/////////////////////////////////////////////////////////////////////////////// +// Stream + +/*! \class rapidjson::Stream + \brief Concept for reading and writing characters. + + For read-only stream, no need to implement PutBegin(), Put(), Flush() and +PutEnd(). + + For write-only stream, only need to implement Put() and Flush(). + +\code +concept Stream { + typename Ch; //!< Character type of the stream. + + //! Read the current character from stream without moving the read cursor. + Ch Peek() const; + + //! Read the current character from stream and moving the read cursor to +next character. Ch Take(); + + //! Get the current read cursor. + //! \return Number of characters read from start. + size_t Tell(); + + //! Begin writing operation at the current read pointer. + //! \return The begin writer pointer. + Ch* PutBegin(); + + //! Write a character. + void Put(Ch c); + + //! Flush the buffer. + void Flush(); + + //! End the writing operation. + //! \param begin The begin write pointer returned by PutBegin(). + //! \return Number of characters written. + size_t PutEnd(Ch* begin); +} +\endcode +*/ + +//! Provides additional information for stream. +/*! + By using traits pattern, this type provides a default configuration for + stream. For custom stream, this type can be specialized for other + configuration. See TEST(Reader, CustomStringStream) in readertest.cpp for + example. +*/ +template +struct StreamTraits { + //! Whether to make local copy of stream for optimization during parsing. + /*! + By default, for safety, streams do not use local copy optimization. + Stream that can be copied fast should specialize this, like + StreamTraits. + */ + enum { copyOptimization = 0 }; +}; + +//! Reserve n characters for writing to a stream. +template +inline void PutReserve(Stream &stream, size_t count) { + (void)stream; + (void)count; +} + +//! Write character to a stream, presuming buffer is reserved. +template +inline void PutUnsafe(Stream &stream, typename Stream::Ch c) { + stream.Put(c); +} + +//! Put N copies of a character to a stream. +template +inline void PutN(Stream &stream, Ch c, size_t n) { + PutReserve(stream, n); + for (size_t i = 0; i < n; i++) PutUnsafe(stream, c); +} + +/////////////////////////////////////////////////////////////////////////////// +// GenericStreamWrapper + +//! A Stream Wrapper +/*! \tThis string stream is a wrapper for any stream by just forwarding any + \treceived message to the origin stream. + \note implements Stream concept +*/ + +#if defined(_MSC_VER) && _MSC_VER <= 1800 +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(4702) // unreachable code +RAPIDJSON_DIAG_OFF(4512) // assignment operator could not be generated +#endif + +template > +class GenericStreamWrapper { + public: + typedef typename Encoding::Ch Ch; + GenericStreamWrapper(InputStream &is) : is_(is) {} + + Ch Peek() const { return is_.Peek(); } + Ch Take() { return is_.Take(); } + size_t Tell() { return is_.Tell(); } + Ch *PutBegin() { return is_.PutBegin(); } + void Put(Ch ch) { is_.Put(ch); } + void Flush() { is_.Flush(); } + size_t PutEnd(Ch *ch) { return is_.PutEnd(ch); } + + // wrapper for MemoryStream + const Ch *Peek4() const { return is_.Peek4(); } + + // wrapper for AutoUTFInputStream + UTFType GetType() const { return is_.GetType(); } + bool HasBOM() const { return is_.HasBOM(); } + + protected: + InputStream &is_; +}; + +#if defined(_MSC_VER) && _MSC_VER <= 1800 +RAPIDJSON_DIAG_POP +#endif + +/////////////////////////////////////////////////////////////////////////////// +// StringStream + +//! Read-only string stream. +/*! \note implements Stream concept + */ +template +struct GenericStringStream { + typedef typename Encoding::Ch Ch; + + GenericStringStream(const Ch *src) : src_(src), head_(src) {} + + Ch Peek() const { return *src_; } + Ch Take() { return *src_++; } + size_t Tell() const { return static_cast(src_ - head_); } + + Ch *PutBegin() { + RAPIDJSON_ASSERT(false); + return 0; + } + void Put(Ch) { RAPIDJSON_ASSERT(false); } + void Flush() { RAPIDJSON_ASSERT(false); } + size_t PutEnd(Ch *) { + RAPIDJSON_ASSERT(false); + return 0; + } + + const Ch *src_; //!< Current read position. + const Ch *head_; //!< Original head of the string. +}; + +template +struct StreamTraits> { + enum { copyOptimization = 1 }; +}; + +//! String stream with UTF8 encoding. +typedef GenericStringStream> StringStream; + +/////////////////////////////////////////////////////////////////////////////// +// InsituStringStream + +//! A read-write string stream. +/*! This string stream is particularly designed for in-situ parsing. + \note implements Stream concept +*/ +template +struct GenericInsituStringStream { + typedef typename Encoding::Ch Ch; + + GenericInsituStringStream(Ch *src) : src_(src), dst_(0), head_(src) {} + + // Read + Ch Peek() { return *src_; } + Ch Take() { return *src_++; } + size_t Tell() { return static_cast(src_ - head_); } + + // Write + void Put(Ch c) { + RAPIDJSON_ASSERT(dst_ != 0); + *dst_++ = c; + } + + Ch *PutBegin() { return dst_ = src_; } + size_t PutEnd(Ch *begin) { return static_cast(dst_ - begin); } + void Flush() {} + + Ch *Push(size_t count) { + Ch *begin = dst_; + dst_ += count; + return begin; + } + void Pop(size_t count) { dst_ -= count; } + + Ch *src_; + Ch *dst_; + Ch *head_; +}; + +template +struct StreamTraits> { + enum { copyOptimization = 1 }; +}; + +//! Insitu string stream with UTF8 encoding. +typedef GenericInsituStringStream> InsituStringStream; + +RAPIDJSON_NAMESPACE_END + +#endif // RAPIDJSON_STREAM_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/stringbuffer.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/stringbuffer.h new file mode 100644 index 0000000..42b2bb1 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/stringbuffer.h @@ -0,0 +1,130 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_STRINGBUFFER_H_ +#define RAPIDJSON_STRINGBUFFER_H_ + +#include "internal/stack.h" +#include "stream.h" + +#if RAPIDJSON_HAS_CXX11_RVALUE_REFS +#include // std::move +#endif + +#include "internal/stack.h" + +#if defined(__clang__) +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(c++ 98 - compat) +#endif + +RAPIDJSON_NAMESPACE_BEGIN + +//! Represents an in-memory output stream. +/*! + \tparam Encoding Encoding of the stream. + \tparam Allocator type for allocating memory buffer. + \note implements Stream concept +*/ +template +class GenericStringBuffer { + public: + typedef typename Encoding::Ch Ch; + + GenericStringBuffer(Allocator *allocator = 0, + size_t capacity = kDefaultCapacity) + : stack_(allocator, capacity) {} + +#if RAPIDJSON_HAS_CXX11_RVALUE_REFS + GenericStringBuffer(GenericStringBuffer &&rhs) + : stack_(std::move(rhs.stack_)) {} + GenericStringBuffer &operator=(GenericStringBuffer &&rhs) { + if (&rhs != this) stack_ = std::move(rhs.stack_); + return *this; + } +#endif + + void Put(Ch c) { *stack_.template Push() = c; } + void PutUnsafe(Ch c) { *stack_.template PushUnsafe() = c; } + void Flush() {} + + void Clear() { stack_.Clear(); } + void ShrinkToFit() { + // Push and pop a null terminator. This is safe. + *stack_.template Push() = '\0'; + stack_.ShrinkToFit(); + stack_.template Pop(1); + } + + void Reserve(size_t count) { stack_.template Reserve(count); } + Ch *Push(size_t count) { return stack_.template Push(count); } + Ch *PushUnsafe(size_t count) { return stack_.template PushUnsafe(count); } + void Pop(size_t count) { stack_.template Pop(count); } + + const Ch *GetString() const { + // Push and pop a null terminator. This is safe. + *stack_.template Push() = '\0'; + stack_.template Pop(1); + + return stack_.template Bottom(); + } + + //! Get the size of string in bytes in the string buffer. + size_t GetSize() const { return stack_.GetSize(); } + + //! Get the length of string in Ch in the string buffer. + size_t GetLength() const { return stack_.GetSize() / sizeof(Ch); } + + static const size_t kDefaultCapacity = 256; + mutable internal::Stack stack_; + + private: + // Prohibit copy constructor & assignment operator. + GenericStringBuffer(const GenericStringBuffer &); + GenericStringBuffer &operator=(const GenericStringBuffer &); +}; + +//! String buffer with UTF8 encoding +typedef GenericStringBuffer> StringBuffer; + +template +inline void PutReserve(GenericStringBuffer &stream, + size_t count) { + stream.Reserve(count); +} + +template +inline void PutUnsafe(GenericStringBuffer &stream, + typename Encoding::Ch c) { + stream.PutUnsafe(c); +} + +//! Implement specialized version of PutN() with memset() for better +//! performance. +template <> +inline void PutN(GenericStringBuffer> &stream, char c, size_t n) { + std::memset(stream.stack_.Push(n), c, n * sizeof(c)); +} + +RAPIDJSON_NAMESPACE_END + +#if defined(__clang__) +RAPIDJSON_DIAG_POP +#endif + +#endif // RAPIDJSON_STRINGBUFFER_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/writer.h b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/writer.h new file mode 100644 index 0000000..69f9b05 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/3rdparty/rapidjson/writer.h @@ -0,0 +1,811 @@ +// Tencent is pleased to support the open source community by making RapidJSON +// available. +// +// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +// rights reserved. +// +// Licensed under the MIT License (the "License"); you may not use this file +// except in compliance with the License. You may obtain a copy of the License +// at +// +// http://opensource.org/licenses/MIT +// +// 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 RAPIDJSON_WRITER_H_ +#define RAPIDJSON_WRITER_H_ + +#include // placement new +#include "internal/clzll.h" +#include "internal/dtoa.h" +#include "internal/itoa.h" +#include "internal/meta.h" +#include "internal/stack.h" +#include "internal/strfunc.h" +#include "stream.h" +#include "stringbuffer.h" + +#if defined(RAPIDJSON_SIMD) && defined(_MSC_VER) +#include +#pragma intrinsic(_BitScanForward) +#endif +#ifdef RAPIDJSON_SSE42 +#include +#elif defined(RAPIDJSON_SSE2) +#include +#elif defined(RAPIDJSON_NEON) +#include +#endif + +#ifdef __clang__ +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(padded) +RAPIDJSON_DIAG_OFF(unreachable - code) +RAPIDJSON_DIAG_OFF(c++ 98 - compat) +#elif defined(_MSC_VER) +RAPIDJSON_DIAG_PUSH +RAPIDJSON_DIAG_OFF(4127) // conditional expression is constant +#endif + +RAPIDJSON_NAMESPACE_BEGIN + +/////////////////////////////////////////////////////////////////////////////// +// WriteFlag + +/*! \def RAPIDJSON_WRITE_DEFAULT_FLAGS + \ingroup RAPIDJSON_CONFIG + \brief User-defined kWriteDefaultFlags definition. + + User can define this as any \c WriteFlag combinations. +*/ +#ifndef RAPIDJSON_WRITE_DEFAULT_FLAGS +#define RAPIDJSON_WRITE_DEFAULT_FLAGS kWriteNoFlags +#endif + +//! Combination of writeFlags +enum WriteFlag { + kWriteNoFlags = 0, //!< No flags are set. + kWriteValidateEncodingFlag = 1, //!< Validate encoding of JSON strings. + kWriteNanAndInfFlag = 2, //!< Allow writing of Infinity, -Infinity and NaN. + kWriteDefaultFlags = + RAPIDJSON_WRITE_DEFAULT_FLAGS //!< Default write flags. Can be customized + //!< by defining + //!< RAPIDJSON_WRITE_DEFAULT_FLAGS +}; + +//! JSON writer +/*! Writer implements the concept Handler. + It generates JSON text by events to an output os. + + User may programmatically calls the functions of a writer to generate JSON + text. + + On the other side, a writer can also be passed to objects that generates + events, + + for example Reader::Parse() and Document::Accept(). + + \tparam OutputStream Type of output stream. + \tparam SourceEncoding Encoding of source string. + \tparam TargetEncoding Encoding of output stream. + \tparam StackAllocator Type of allocator for allocating memory of stack. + \note implements Handler concept +*/ +template , + typename TargetEncoding = UTF8<>, + typename StackAllocator = CrtAllocator, + unsigned writeFlags = kWriteDefaultFlags> +class Writer { + public: + typedef typename SourceEncoding::Ch Ch; + + static const int kDefaultMaxDecimalPlaces = 324; + + //! Constructor + /*! \param os Output stream. + \param stackAllocator User supplied allocator. If it is null, it will + create a private one. \param levelDepth Initial capacity of stack. + */ + explicit Writer(OutputStream &os, StackAllocator *stackAllocator = 0, + size_t levelDepth = kDefaultLevelDepth) + : os_(&os), + level_stack_(stackAllocator, levelDepth * sizeof(Level)), + maxDecimalPlaces_(kDefaultMaxDecimalPlaces), + hasRoot_(false) {} + + explicit Writer(StackAllocator *allocator = 0, + size_t levelDepth = kDefaultLevelDepth) + : os_(0), + level_stack_(allocator, levelDepth * sizeof(Level)), + maxDecimalPlaces_(kDefaultMaxDecimalPlaces), + hasRoot_(false) {} + +#if RAPIDJSON_HAS_CXX11_RVALUE_REFS + Writer(Writer &&rhs) + : os_(rhs.os_), + level_stack_(std::move(rhs.level_stack_)), + maxDecimalPlaces_(rhs.maxDecimalPlaces_), + hasRoot_(rhs.hasRoot_) { + rhs.os_ = 0; + } +#endif + + //! Reset the writer with a new stream. + /*! + This function reset the writer with a new stream and default settings, + in order to make a Writer object reusable for output multiple JSONs. + + \param os New output stream. + \code + Writer writer(os1); + writer.StartObject(); + // ... + writer.EndObject(); + + writer.Reset(os2); + writer.StartObject(); + // ... + writer.EndObject(); + \endcode + */ + void Reset(OutputStream &os) { + os_ = &os; + hasRoot_ = false; + level_stack_.Clear(); + } + + //! Checks whether the output is a complete JSON. + /*! + A complete JSON has a complete root object or array. + */ + bool IsComplete() const { return hasRoot_ && level_stack_.Empty(); } + + int GetMaxDecimalPlaces() const { return maxDecimalPlaces_; } + + //! Sets the maximum number of decimal places for double output. + /*! + This setting truncates the output with specified number of decimal places. + + For example, + + \code + writer.SetMaxDecimalPlaces(3); + writer.StartArray(); + writer.Double(0.12345); // "0.123" + writer.Double(0.0001); // "0.0" + writer.Double(1.234567890123456e30); // "1.234567890123456e30" (do not + truncate significand for positive exponent) writer.Double(1.23e-4); // + "0.0" (do truncate significand for negative exponent) + writer.EndArray(); + \endcode + + The default setting does not truncate any decimal places. You can restore + to this setting by calling \code + writer.SetMaxDecimalPlaces(Writer::kDefaultMaxDecimalPlaces); + \endcode + */ + void SetMaxDecimalPlaces(int maxDecimalPlaces) { + maxDecimalPlaces_ = maxDecimalPlaces; + } + + /*!@name Implementation of Handler + \see Handler + */ + //@{ + + bool Null() { + Prefix(kNullType); + return EndValue(WriteNull()); + } + bool Bool(bool b) { + Prefix(b ? kTrueType : kFalseType); + return EndValue(WriteBool(b)); + } + bool Int(int i) { + Prefix(kNumberType); + return EndValue(WriteInt(i)); + } + bool Uint(unsigned u) { + Prefix(kNumberType); + return EndValue(WriteUint(u)); + } + bool Int64(int64_t i64) { + Prefix(kNumberType); + return EndValue(WriteInt64(i64)); + } + bool Uint64(uint64_t u64) { + Prefix(kNumberType); + return EndValue(WriteUint64(u64)); + } + + //! Writes the given \c double value to the stream + /*! + \param d The value to be written. + \return Whether it is succeed. + */ + bool Double(double d) { + Prefix(kNumberType); + return EndValue(WriteDouble(d)); + } + + bool RawNumber(const Ch *str, SizeType length, bool copy = false) { + RAPIDJSON_ASSERT(str != 0); + (void)copy; + Prefix(kNumberType); + return EndValue(WriteString(str, length)); + } + + bool String(const Ch *str, SizeType length, bool copy = false) { + RAPIDJSON_ASSERT(str != 0); + (void)copy; + Prefix(kStringType); + return EndValue(WriteString(str, length)); + } + +#if RAPIDJSON_HAS_STDSTRING + bool String(const std::basic_string &str) { + return String(str.data(), SizeType(str.size())); + } +#endif + + bool StartObject() { + Prefix(kObjectType); + new (level_stack_.template Push()) Level(false); + return WriteStartObject(); + } + + bool Key(const Ch *str, SizeType length, bool copy = false) { + return String(str, length, copy); + } + +#if RAPIDJSON_HAS_STDSTRING + bool Key(const std::basic_string &str) { + return Key(str.data(), SizeType(str.size())); + } +#endif + + bool EndObject(SizeType memberCount = 0) { + (void)memberCount; + RAPIDJSON_ASSERT(level_stack_.GetSize() >= + sizeof(Level)); // not inside an Object + RAPIDJSON_ASSERT(!level_stack_.template Top() + ->inArray); // currently inside an Array, not Object + RAPIDJSON_ASSERT(0 == + level_stack_.template Top()->valueCount % + 2); // Object has a Key without a Value + level_stack_.template Pop(1); + return EndValue(WriteEndObject()); + } + + bool StartArray() { + Prefix(kArrayType); + new (level_stack_.template Push()) Level(true); + return WriteStartArray(); + } + + bool EndArray(SizeType elementCount = 0) { + (void)elementCount; + RAPIDJSON_ASSERT(level_stack_.GetSize() >= sizeof(Level)); + RAPIDJSON_ASSERT(level_stack_.template Top()->inArray); + level_stack_.template Pop(1); + return EndValue(WriteEndArray()); + } + //@} + + /*! @name Convenience extensions */ + //@{ + + //! Simpler but slower overload. + bool String(const Ch *const &str) { + return String(str, internal::StrLen(str)); + } + bool Key(const Ch *const &str) { return Key(str, internal::StrLen(str)); } + + //@} + + //! Write a raw JSON value. + /*! + For user to write a stringified JSON as a value. + + \param json A well-formed JSON value. It should not contain null character + within [0, length - 1] range. \param length Length of the json. \param type + Type of the root of json. + */ + bool RawValue(const Ch *json, size_t length, Type type) { + RAPIDJSON_ASSERT(json != 0); + Prefix(type); + return EndValue(WriteRawValue(json, length)); + } + + //! Flush the output stream. + /*! + Allows the user to flush the output stream immediately. + */ + void Flush() { os_->Flush(); } + + protected: + //! Information for each nested level + struct Level { + Level(bool inArray_) : valueCount(0), inArray(inArray_) {} + size_t valueCount; //!< number of values in this level + bool inArray; //!< true if in array, otherwise in object + }; + + static const size_t kDefaultLevelDepth = 32; + + bool WriteNull() { + PutReserve(*os_, 4); + PutUnsafe(*os_, 'n'); + PutUnsafe(*os_, 'u'); + PutUnsafe(*os_, 'l'); + PutUnsafe(*os_, 'l'); + return true; + } + + bool WriteBool(bool b) { + if (b) { + PutReserve(*os_, 4); + PutUnsafe(*os_, 't'); + PutUnsafe(*os_, 'r'); + PutUnsafe(*os_, 'u'); + PutUnsafe(*os_, 'e'); + } else { + PutReserve(*os_, 5); + PutUnsafe(*os_, 'f'); + PutUnsafe(*os_, 'a'); + PutUnsafe(*os_, 'l'); + PutUnsafe(*os_, 's'); + PutUnsafe(*os_, 'e'); + } + return true; + } + + bool WriteInt(int i) { + char buffer[11]; + const char *end = internal::i32toa(i, buffer); + PutReserve(*os_, static_cast(end - buffer)); + for (const char *p = buffer; p != end; ++p) + PutUnsafe(*os_, static_cast(*p)); + return true; + } + + bool WriteUint(unsigned u) { + char buffer[10]; + const char *end = internal::u32toa(u, buffer); + PutReserve(*os_, static_cast(end - buffer)); + for (const char *p = buffer; p != end; ++p) + PutUnsafe(*os_, static_cast(*p)); + return true; + } + + bool WriteInt64(int64_t i64) { + char buffer[21]; + const char *end = internal::i64toa(i64, buffer); + PutReserve(*os_, static_cast(end - buffer)); + for (const char *p = buffer; p != end; ++p) + PutUnsafe(*os_, static_cast(*p)); + return true; + } + + bool WriteUint64(uint64_t u64) { + char buffer[20]; + char *end = internal::u64toa(u64, buffer); + PutReserve(*os_, static_cast(end - buffer)); + for (char *p = buffer; p != end; ++p) + PutUnsafe(*os_, static_cast(*p)); + return true; + } + + bool WriteDouble(double d) { + if (internal::Double(d).IsNanOrInf()) { + if (!(writeFlags & kWriteNanAndInfFlag)) return false; + if (internal::Double(d).IsNan()) { + PutReserve(*os_, 3); + PutUnsafe(*os_, 'N'); + PutUnsafe(*os_, 'a'); + PutUnsafe(*os_, 'N'); + return true; + } + if (internal::Double(d).Sign()) { + PutReserve(*os_, 9); + PutUnsafe(*os_, '-'); + } else + PutReserve(*os_, 8); + PutUnsafe(*os_, 'I'); + PutUnsafe(*os_, 'n'); + PutUnsafe(*os_, 'f'); + PutUnsafe(*os_, 'i'); + PutUnsafe(*os_, 'n'); + PutUnsafe(*os_, 'i'); + PutUnsafe(*os_, 't'); + PutUnsafe(*os_, 'y'); + return true; + } + + char buffer[25]; + char *end = internal::dtoa(d, buffer, maxDecimalPlaces_); + PutReserve(*os_, static_cast(end - buffer)); + for (char *p = buffer; p != end; ++p) + PutUnsafe(*os_, static_cast(*p)); + return true; + } + + bool WriteString(const Ch *str, SizeType length) { + static const typename OutputStream::Ch hexDigits[16] = { + '0', '1', '2', '3', '4', '5', '6', '7', + '8', '9', 'A', 'B', 'C', 'D', 'E', 'F'}; + static const char escape[256] = { +#define Z16 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 + // 0 1 2 3 4 5 6 7 8 9 A B C D E + // F + 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'b', 't', + 'n', 'u', 'f', 'r', 'u', 'u', // 00 + 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', + 'u', 'u', 'u', 'u', 'u', 'u', // 10 + 0, 0, '"', 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, // 20 + Z16, Z16, // 30~4F + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, '\\', 0, 0, 0, // 50 + Z16, Z16, Z16, Z16, Z16, Z16, Z16, Z16, Z16, Z16 // 60~FF +#undef Z16 + }; + + if (TargetEncoding::supportUnicode) + PutReserve(*os_, 2 + length * 6); // "\uxxxx..." + else + PutReserve(*os_, 2 + length * 12); // "\uxxxx\uyyyy..." + + PutUnsafe(*os_, '\"'); + GenericStringStream is(str); + while (ScanWriteUnescapedString(is, length)) { + const Ch c = is.Peek(); + if (!TargetEncoding::supportUnicode && static_cast(c) >= 0x80) { + // Unicode escaping + unsigned codepoint; + if (RAPIDJSON_UNLIKELY(!SourceEncoding::Decode(is, &codepoint))) + return false; + PutUnsafe(*os_, '\\'); + PutUnsafe(*os_, 'u'); + if (codepoint <= 0xD7FF || + (codepoint >= 0xE000 && codepoint <= 0xFFFF)) { + PutUnsafe(*os_, hexDigits[(codepoint >> 12) & 15]); + PutUnsafe(*os_, hexDigits[(codepoint >> 8) & 15]); + PutUnsafe(*os_, hexDigits[(codepoint >> 4) & 15]); + PutUnsafe(*os_, hexDigits[(codepoint)&15]); + } else { + RAPIDJSON_ASSERT(codepoint >= 0x010000 && codepoint <= 0x10FFFF); + // Surrogate pair + unsigned s = codepoint - 0x010000; + unsigned lead = (s >> 10) + 0xD800; + unsigned trail = (s & 0x3FF) + 0xDC00; + PutUnsafe(*os_, hexDigits[(lead >> 12) & 15]); + PutUnsafe(*os_, hexDigits[(lead >> 8) & 15]); + PutUnsafe(*os_, hexDigits[(lead >> 4) & 15]); + PutUnsafe(*os_, hexDigits[(lead)&15]); + PutUnsafe(*os_, '\\'); + PutUnsafe(*os_, 'u'); + PutUnsafe(*os_, hexDigits[(trail >> 12) & 15]); + PutUnsafe(*os_, hexDigits[(trail >> 8) & 15]); + PutUnsafe(*os_, hexDigits[(trail >> 4) & 15]); + PutUnsafe(*os_, hexDigits[(trail)&15]); + } + } else if ((sizeof(Ch) == 1 || static_cast(c) < 256) && + RAPIDJSON_UNLIKELY(escape[static_cast(c)])) { + is.Take(); + PutUnsafe(*os_, '\\'); + PutUnsafe(*os_, static_cast( + escape[static_cast(c)])); + if (escape[static_cast(c)] == 'u') { + PutUnsafe(*os_, '0'); + PutUnsafe(*os_, '0'); + PutUnsafe(*os_, hexDigits[static_cast(c) >> 4]); + PutUnsafe(*os_, hexDigits[static_cast(c) & 0xF]); + } + } else if (RAPIDJSON_UNLIKELY(!( + writeFlags & kWriteValidateEncodingFlag + ? Transcoder::Validate( + is, *os_) + : Transcoder::TranscodeUnsafe(is, + *os_)))) + return false; + } + PutUnsafe(*os_, '\"'); + return true; + } + + bool ScanWriteUnescapedString(GenericStringStream &is, + size_t length) { + return RAPIDJSON_LIKELY(is.Tell() < length); + } + + bool WriteStartObject() { + os_->Put('{'); + return true; + } + bool WriteEndObject() { + os_->Put('}'); + return true; + } + bool WriteStartArray() { + os_->Put('['); + return true; + } + bool WriteEndArray() { + os_->Put(']'); + return true; + } + + bool WriteRawValue(const Ch *json, size_t length) { + PutReserve(*os_, length); + GenericStringStream is(json); + while (RAPIDJSON_LIKELY(is.Tell() < length)) { + RAPIDJSON_ASSERT(is.Peek() != '\0'); + if (RAPIDJSON_UNLIKELY(!( + writeFlags & kWriteValidateEncodingFlag + ? Transcoder::Validate(is, + *os_) + : Transcoder::TranscodeUnsafe( + is, *os_)))) + return false; + } + return true; + } + + void Prefix(Type type) { + (void)type; + if (RAPIDJSON_LIKELY(level_stack_.GetSize() != + 0)) { // this value is not at root + Level *level = level_stack_.template Top(); + if (level->valueCount > 0) { + if (level->inArray) + os_->Put(','); // add comma if it is not the first element in array + else // in object + os_->Put((level->valueCount % 2 == 0) ? ',' : ':'); + } + if (!level->inArray && level->valueCount % 2 == 0) + RAPIDJSON_ASSERT(type == kStringType); // if it's in object, then even + // number should be a name + level->valueCount++; + } else { + RAPIDJSON_ASSERT(!hasRoot_); // Should only has one and only one root. + hasRoot_ = true; + } + } + + // Flush the value if it is the top level one. + bool EndValue(bool ret) { + if (RAPIDJSON_UNLIKELY(level_stack_.Empty())) // end of json text + Flush(); + return ret; + } + + OutputStream *os_; + internal::Stack level_stack_; + int maxDecimalPlaces_; + bool hasRoot_; + + private: + // Prohibit copy constructor & assignment operator. + Writer(const Writer &); + Writer &operator=(const Writer &); +}; + +// Full specialization for StringStream to prevent memory copying + +template <> +inline bool Writer::WriteInt(int i) { + char *buffer = os_->Push(11); + const char *end = internal::i32toa(i, buffer); + os_->Pop(static_cast(11 - (end - buffer))); + return true; +} + +template <> +inline bool Writer::WriteUint(unsigned u) { + char *buffer = os_->Push(10); + const char *end = internal::u32toa(u, buffer); + os_->Pop(static_cast(10 - (end - buffer))); + return true; +} + +template <> +inline bool Writer::WriteInt64(int64_t i64) { + char *buffer = os_->Push(21); + const char *end = internal::i64toa(i64, buffer); + os_->Pop(static_cast(21 - (end - buffer))); + return true; +} + +template <> +inline bool Writer::WriteUint64(uint64_t u) { + char *buffer = os_->Push(20); + const char *end = internal::u64toa(u, buffer); + os_->Pop(static_cast(20 - (end - buffer))); + return true; +} + +template <> +inline bool Writer::WriteDouble(double d) { + if (internal::Double(d).IsNanOrInf()) { + // Note: This code path can only be reached if + // (RAPIDJSON_WRITE_DEFAULT_FLAGS & kWriteNanAndInfFlag). + if (!(kWriteDefaultFlags & kWriteNanAndInfFlag)) return false; + if (internal::Double(d).IsNan()) { + PutReserve(*os_, 3); + PutUnsafe(*os_, 'N'); + PutUnsafe(*os_, 'a'); + PutUnsafe(*os_, 'N'); + return true; + } + if (internal::Double(d).Sign()) { + PutReserve(*os_, 9); + PutUnsafe(*os_, '-'); + } else + PutReserve(*os_, 8); + PutUnsafe(*os_, 'I'); + PutUnsafe(*os_, 'n'); + PutUnsafe(*os_, 'f'); + PutUnsafe(*os_, 'i'); + PutUnsafe(*os_, 'n'); + PutUnsafe(*os_, 'i'); + PutUnsafe(*os_, 't'); + PutUnsafe(*os_, 'y'); + return true; + } + + char *buffer = os_->Push(25); + char *end = internal::dtoa(d, buffer, maxDecimalPlaces_); + os_->Pop(static_cast(25 - (end - buffer))); + return true; +} + +#if defined(RAPIDJSON_SSE2) || defined(RAPIDJSON_SSE42) +template <> +inline bool Writer::ScanWriteUnescapedString(StringStream &is, + size_t length) { + if (length < 16) return RAPIDJSON_LIKELY(is.Tell() < length); + + if (!RAPIDJSON_LIKELY(is.Tell() < length)) return false; + + const char *p = is.src_; + const char *end = is.head_ + length; + const char *nextAligned = reinterpret_cast( + (reinterpret_cast(p) + 15) & static_cast(~15)); + const char *endAligned = reinterpret_cast( + reinterpret_cast(end) & static_cast(~15)); + if (nextAligned > end) return true; + + while (p != nextAligned) + if (*p < 0x20 || *p == '\"' || *p == '\\') { + is.src_ = p; + return RAPIDJSON_LIKELY(is.Tell() < length); + } else + os_->PutUnsafe(*p++); + + // The rest of string using SIMD + static const char dquote[16] = {'\"', '\"', '\"', '\"', '\"', '\"', + '\"', '\"', '\"', '\"', '\"', '\"', + '\"', '\"', '\"', '\"'}; + static const char bslash[16] = {'\\', '\\', '\\', '\\', '\\', '\\', + '\\', '\\', '\\', '\\', '\\', '\\', + '\\', '\\', '\\', '\\'}; + static const char space[16] = {0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, + 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, + 0x1F, 0x1F, 0x1F, 0x1F}; + const __m128i dq = + _mm_loadu_si128(reinterpret_cast(&dquote[0])); + const __m128i bs = + _mm_loadu_si128(reinterpret_cast(&bslash[0])); + const __m128i sp = + _mm_loadu_si128(reinterpret_cast(&space[0])); + + for (; p != endAligned; p += 16) { + const __m128i s = _mm_load_si128(reinterpret_cast(p)); + const __m128i t1 = _mm_cmpeq_epi8(s, dq); + const __m128i t2 = _mm_cmpeq_epi8(s, bs); + const __m128i t3 = _mm_cmpeq_epi8(_mm_max_epu8(s, sp), + sp); // s < 0x20 <=> max(s, 0x1F) == 0x1F + const __m128i x = _mm_or_si128(_mm_or_si128(t1, t2), t3); + unsigned short r = static_cast(_mm_movemask_epi8(x)); + if (RAPIDJSON_UNLIKELY(r != 0)) { // some of characters is escaped + SizeType len; +#ifdef _MSC_VER // Find the index of first escaped + unsigned long offset; + _BitScanForward(&offset, r); + len = offset; +#else + len = static_cast(__builtin_ffs(r) - 1); +#endif + char *q = reinterpret_cast(os_->PushUnsafe(len)); + for (size_t i = 0; i < len; i++) q[i] = p[i]; + + p += len; + break; + } + _mm_storeu_si128(reinterpret_cast<__m128i *>(os_->PushUnsafe(16)), s); + } + + is.src_ = p; + return RAPIDJSON_LIKELY(is.Tell() < length); +} +#elif defined(RAPIDJSON_NEON) +template <> +inline bool Writer::ScanWriteUnescapedString(StringStream &is, + size_t length) { + if (length < 16) return RAPIDJSON_LIKELY(is.Tell() < length); + + if (!RAPIDJSON_LIKELY(is.Tell() < length)) return false; + + const char *p = is.src_; + const char *end = is.head_ + length; + const char *nextAligned = reinterpret_cast( + (reinterpret_cast(p) + 15) & static_cast(~15)); + const char *endAligned = reinterpret_cast( + reinterpret_cast(end) & static_cast(~15)); + if (nextAligned > end) return true; + + while (p != nextAligned) + if (*p < 0x20 || *p == '\"' || *p == '\\') { + is.src_ = p; + return RAPIDJSON_LIKELY(is.Tell() < length); + } else + os_->PutUnsafe(*p++); + + // The rest of string using SIMD + const uint8x16_t s0 = vmovq_n_u8('"'); + const uint8x16_t s1 = vmovq_n_u8('\\'); + const uint8x16_t s2 = vmovq_n_u8('\b'); + const uint8x16_t s3 = vmovq_n_u8(32); + + for (; p != endAligned; p += 16) { + const uint8x16_t s = vld1q_u8(reinterpret_cast(p)); + uint8x16_t x = vceqq_u8(s, s0); + x = vorrq_u8(x, vceqq_u8(s, s1)); + x = vorrq_u8(x, vceqq_u8(s, s2)); + x = vorrq_u8(x, vcltq_u8(s, s3)); + + x = vrev64q_u8(x); // Rev in 64 + uint64_t low = vgetq_lane_u64(vreinterpretq_u64_u8(x), 0); // extract + uint64_t high = vgetq_lane_u64(vreinterpretq_u64_u8(x), 1); // extract + + SizeType len = 0; + bool escaped = false; + if (low == 0) { + if (high != 0) { + uint32_t lz = RAPIDJSON_CLZLL(high); + len = 8 + (lz >> 3); + escaped = true; + } + } else { + uint32_t lz = RAPIDJSON_CLZLL(low); + len = lz >> 3; + escaped = true; + } + if (RAPIDJSON_UNLIKELY(escaped)) { // some of characters is escaped + char *q = reinterpret_cast(os_->PushUnsafe(len)); + for (size_t i = 0; i < len; i++) q[i] = p[i]; + + p += len; + break; + } + vst1q_u8(reinterpret_cast(os_->PushUnsafe(16)), s); + } + + is.src_ = p; + return RAPIDJSON_LIKELY(is.Tell() < length); +} +#endif // RAPIDJSON_NEON + +RAPIDJSON_NAMESPACE_END + +#if defined(_MSC_VER) || defined(__clang__) +RAPIDJSON_DIAG_POP +#endif + +#endif // RAPIDJSON_RAPIDJSON_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/CHANGELOG.md b/src/rm_driver/livox_ros_driver2/src/CHANGELOG.md new file mode 100644 index 0000000..8abe0d1 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/CHANGELOG.md @@ -0,0 +1,53 @@ +# Changelog + +All notable changes to this project will be documented in this file. + +## [1.2.3] +### Fixed +- Optimize framing logic and reduce CPU usage +- Fixed some known issues + +## [1.2.1] +### Fixed +- Fix offset time error regarding CustomMsg format message publishment. + +## [1.2.0] +### Added +- Revise the frame segmentation logic. +- (Notice!!!) Add Timestamp to each point in Livox pointcloud2 (PointXYZRTLT) format. The PointXYZRTL format has been updated to PointXYZRTLT format. Compatibility needs to be considered. +### Fixed +- Improve support for gPTP and GPS synchronizations. + +--- +## [1.1.3] +### Fixed +- Improve performance when running in ROS2 Humble. + +--- +## [1.1.2] +### Changed +- Change publish frequency range to [0.5Hz, 10 Hz]. +### Fixed +- Fix a high CPU-usage problem. + +--- +## [1.1.1] +### Added +- Offer valid line-number info in the point cloud data of MID-360 Lidar. +- Enable IMU by default. +### Changed +- Update the README slightly. + +--- +## [1.0.0] +### Added +- Support Mid-360 Lidar. +- Support for Ubuntu 22.04 ROS2 humble. +- Support multi-topic fuction, the suffix of the topic name corresponds to the ip address of each Lidar. +### Changed +- Remove the embedded SDK. +- Constraint: Livox ROS Driver 2 for ROS2 does not support message passing with PCL native data types. +### Fixed +- Fix IMU packet loss. +- Fix some conflicts with livox ros driver. +- Fixed HAP Lidar publishing PointCloud2 and CustomMsg format point clouds with no line number. diff --git a/src/rm_driver/livox_ros_driver2/src/CMakeLists.txt b/src/rm_driver/livox_ros_driver2/src/CMakeLists.txt new file mode 100644 index 0000000..5a5c52e --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/CMakeLists.txt @@ -0,0 +1,146 @@ +# Copyright(c) 2020 livoxtech limited. + +cmake_minimum_required(VERSION 3.14) +project(livox_ros_driver2) + +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +list(INSERT CMAKE_MODULE_PATH 0 "${PROJECT_SOURCE_DIR}/cmake/modules") + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter) +endif() + +# Printf version info +include(cmake/version.cmake) +project(${PROJECT_NAME} VERSION ${LIVOX_ROS_DRIVER2_VERSION} LANGUAGES CXX) +message(STATUS "${PROJECT_NAME} version: ${LIVOX_ROS_DRIVER2_VERSION}") + +#--------------------------------------------------------------------------------------- +# Add ROS Version MACRO +#--------------------------------------------------------------------------------------- +add_definitions(-DBUILDING_ROS2) + +# find dependencies +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() +find_package(PCL REQUIRED QUIET) +find_package(std_msgs REQUIRED) +find_package(builtin_interfaces REQUIRED) +find_package(rosidl_default_generators REQUIRED) + +# check apr +find_package(PkgConfig) +pkg_check_modules(APR apr-1) +if (APR_FOUND) + message(${APR_INCLUDE_DIRS}) + message(${APR_LIBRARIES}) +endif (APR_FOUND) + +# generate custom msg headers +set(LIVOX_INTERFACES livox_interfaces2) +rosidl_generate_interfaces(${LIVOX_INTERFACES} + "msg/CustomPoint.msg" + "msg/CustomMsg.msg" + DEPENDENCIES builtin_interfaces std_msgs + LIBRARY_NAME ${PROJECT_NAME} +) + +## make sure the livox_lidar_sdk_shared library is installed +find_library(LIVOX_LIDAR_SDK_LIBRARY liblivox_lidar_sdk_shared.so /usr/local/lib REQUIRED) + +## +find_path(LIVOX_LIDAR_SDK_INCLUDE_DIR + NAMES "livox_lidar_api.h" "livox_lidar_def.h" + REQUIRED) + +## PCL library +link_directories(${PCL_LIBRARY_DIRS}) +add_definitions(${PCL_DEFINITIONS}) + +# livox ros2 driver target +ament_auto_add_library(${PROJECT_NAME} SHARED + src/livox_ros_driver2.cpp + src/lddc.cpp + src/driver_node.cpp + src/lds.cpp + src/lds_lidar.cpp + + src/comm/comm.cpp + src/comm/ldq.cpp + src/comm/semaphore.cpp + src/comm/lidar_imu_data_queue.cpp + src/comm/cache_index.cpp + src/comm/pub_handler.cpp + + src/parse_cfg_file/parse_cfg_file.cpp + src/parse_cfg_file/parse_livox_lidar_cfg.cpp + + src/call_back/lidar_common_callback.cpp + src/call_back/livox_lidar_callback.cpp +) + +target_include_directories(${PROJECT_NAME} PRIVATE ${livox_sdk_INCLUDE_DIRS}) + +# get include directories of custom msg headers +if($ENV{ROS_DISTRO} STREQUAL "foxy") + set(LIVOX_INTERFACE_TARGET "${LIVOX_INTERFACES}__rosidl_typesupport_cpp") + add_dependencies(${PROJECT_NAME} ${LIVOX_INTERFACES}) + get_target_property(LIVOX_INTERFACES_INCLUDE_DIRECTORIES ${LIVOX_INTERFACE_TARGET} INTERFACE_INCLUDE_DIRECTORIES) +else() + rosidl_get_typesupport_target(cpp_typesupport_target + ${LIVOX_INTERFACES} "rosidl_typesupport_cpp") + target_link_libraries(${PROJECT_NAME} "${cpp_typesupport_target}") +endif() + +# include file direcotry +target_include_directories(${PROJECT_NAME} PUBLIC + ${PCL_INCLUDE_DIRS} + ${APR_INCLUDE_DIRS} + ${LIVOX_LIDAR_SDK_INCLUDE_DIR} + ${LIVOX_INTERFACES_INCLUDE_DIRECTORIES} # for custom msgs + 3rdparty + src +) + +# link libraries +target_link_libraries(${PROJECT_NAME} + ${LIVOX_LIDAR_SDK_LIBRARY} + ${LIVOX_INTERFACE_TARGET} # for custom msgs + ${PPT_LIBRARY} + ${Boost_LIBRARY} + ${PCL_LIBRARIES} + ${APR_LIBRARIES} +) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "livox_ros::DriverNode" + EXECUTABLE ${PROJECT_NAME}_node +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # uncomment the line when a copyright and license is not present in all source files + #set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # uncomment the line when this package is not in a git repo + #set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package(INSTALL_TO_SHARE + config + launch +) diff --git a/src/rm_driver/livox_ros_driver2/src/LICENSE.txt b/src/rm_driver/livox_ros_driver2/src/LICENSE.txt new file mode 100644 index 0000000..9e0f5db --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/LICENSE.txt @@ -0,0 +1,412 @@ +The following portions of the LIVOX’s Livox ROS Driver2 (“Software” referred to in the terms below) are made available to you under the terms of the MIT License provided below and is also available at https://opensource.org/licenses/MIT. + +livox_ros_driver2 +├── build.sh +├── cmake +│   └── version.cmake +├── CMakeLists.txt +├── config +│   ├── display_point_cloud_ROS1.rviz +│   ├── display_point_cloud_ROS2.rviz +│   ├── HAP_config.json +│   ├── MID360_config.json +│   └── mixed_HAP_MID360_config.json +├── launch_ROS1 +│   ├── msg_HAP.launch +│   ├── msg_MID360.launch +│   ├── msg_mixed.launch +│   ├── rviz_HAP.launch +│   ├── rviz_MID360.launch +│   └── rviz_mixed.launch +├── launch_ROS2 +│   ├── msg_HAP_launch.py +│   ├── msg_MID360_launch.py +│   ├── rviz_HAP_launch.py +│   ├── rviz_MID360_launch.py +│   └── rviz_mixed.py +├── msg +│   ├── CustomMsg.msg +│   └── CustomPoint.msg +├── package_ROS1.xml +├── package_ROS2.xml +├── package.xml +├── README.md +└── src + ├── call_back + │   ├── lidar_common_callback.cpp + │   ├── lidar_common_callback.h + │   ├── livox_lidar_callback.cpp + │   └── livox_lidar_callback.h + ├── comm + │   ├── cache_index.cpp + │   ├── cache_index.h + │   ├── comm.cpp + │   ├── comm.h + │   ├── ldq.cpp + │   ├── ldq.h + │   ├── lidar_imu_data_queue.cpp + │   ├── lidar_imu_data_queue.h + │   ├── pub_handler.cpp + │   ├── pub_handler.h + │   ├── semaphore.cpp + │   └── semaphore.h + ├── driver_node.cpp + ├── driver_node.h + ├── include + │   ├── livox_ros_driver2.h + │   ├── ros1_headers.h + │   ├── ros2_headers.h + │   └── ros_headers.h + ├── lddc.cpp + ├── lddc.h + ├── lds.cpp + ├── lds.h + ├── lds_lidar.cpp + ├── lds_lidar.h + ├── livox_ros_driver2.cpp + └── parse_cfg_file + ├── parse_cfg_file.cpp + ├── parse_cfg_file.h + ├── parse_livox_lidar_cfg.cpp + └── parse_livox_lidar_cfg.h + +--------------------------------- + +The MIT License (MIT) + +Copyright (c) 2022 Livox. All rights reserved. + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + +=============================================================== + +LIVOX’s Livox ROS Driver2 uses unmodified source code of RapidJSON (https://github.com/Tencent/rapidjson), which is also licensed under MIT license. A copy of the MIT license is provided below and is also available at https://opensource.org/licenses/MIT. + +livox_ros_driver2 +├── 3rdparty +│   └── rapidjson +│   ├── allocators.h +│   ├── cursorstreamwrapper.h +│   ├── document.h +│   ├── encodedstream.h +│   ├── encodings.h +│   ├── error +│   │   ├── en.h +│   │   └── error.h +│   ├── filereadstream.h +│   ├── filewritestream.h +│   ├── fwd.h +│   ├── internal +│   │   ├── biginteger.h +│   │   ├── clzll.h +│   │   ├── diyfp.h +│   │   ├── dtoa.h +│   │   ├── ieee754.h +│   │   ├── itoa.h +│   │   ├── meta.h +│   │   ├── pow10.h +│   │   ├── regex.h +│   │   ├── stack.h +│   │   ├── strfunc.h +│   │   ├── strtod.h +│   │   └── swap.h +│   ├── istreamwrapper.h +│   ├── memorybuffer.h +│   ├── memorystream.h +│   ├── msinttypes +│   │   ├── inttypes.h +│   │   └── stdint.h +│   ├── ostreamwrapper.h +│   ├── pointer.h +│   ├── prettywriter.h +│   ├── rapidjson.h +│   ├── reader.h +│   ├── schema.h +│   ├── stream.h +│   ├── stringbuffer.h +│   └── writer.h + +------------------------------------------------------------- + +Tencent is pleased to support the open source community by making RapidJSON +available. + +Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All +rights reserved. + +Licensed under the MIT License (the "License"); you may not use this file +except in compliance with the License. You may obtain a copy of the License +at + +http://opensource.org/licenses/MIT + +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. + +=============================================================== + +LIVOX’s Livox ROS Driver2 uses unmodified libraries and interfaces of ROS (https://www.ros.org/), which is also licensed under 3-Clause-BSD license. A copy of the 3-Clause-BSD license is provided below and is also available at https://opensource.org/licenses/BSD-3-Clause. + +------------------------------------------------------------- + +The 3-Clause BSD License + +Copyright (c) 2001 - 2009, The Board of Trustees of the University of Illinois. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are +met: + +* Redistributions of source code must retain the above + copyright notice, this list of conditions and the + following disclaimer. + +* Redistributions in binary form must reproduce the + above copyright notice, this list of conditions + and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +* Neither the name of the University of Illinois + nor the names of its contributors may be used to + endorse or promote products derived from this + software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS +IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, +THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +PURPOSE ARE DISCLAIMED. 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However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/src/rm_driver/livox_ros_driver2/src/cmake/version.cmake b/src/rm_driver/livox_ros_driver2/src/cmake/version.cmake new file mode 100644 index 0000000..908c19b --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/cmake/version.cmake @@ -0,0 +1,16 @@ +#--------------------------------------------------------------------------------------- +# Get livox_ros_driver2 version from include/livox_ros_driver2.h +#--------------------------------------------------------------------------------------- +file(READ "${CMAKE_CURRENT_LIST_DIR}/../src/include/livox_ros_driver2.h" LIVOX_ROS_DRIVER2_VERSION_FILE) +string(REGEX MATCH "LIVOX_ROS_DRIVER2_VER_MAJOR ([0-9]+)" _ "${LIVOX_ROS_DRIVER2_VERSION_FILE}") +set(ver_major ${CMAKE_MATCH_1}) + +string(REGEX MATCH "LIVOX_ROS_DRIVER2_VER_MINOR ([0-9]+)" _ "${LIVOX_ROS_DRIVER2_VERSION_FILE}") +set(ver_minor ${CMAKE_MATCH_1}) +string(REGEX MATCH "LIVOX_ROS_DRIVER2_VER_PATCH ([0-9]+)" _ "${LIVOX_ROS_DRIVER2_VERSION_FILE}") +set(ver_patch ${CMAKE_MATCH_1}) + +if (NOT DEFINED ver_major OR NOT DEFINED ver_minor OR NOT DEFINED ver_patch) + message(FATAL_ERROR "Could not extract valid version from include/livox_ros_driver2.h") +endif() +set (LIVOX_ROS_DRIVER2_VERSION "${ver_major}.${ver_minor}.${ver_patch}") diff --git a/src/rm_driver/livox_ros_driver2/src/config/HAP_config.json b/src/rm_driver/livox_ros_driver2/src/config/HAP_config.json new file mode 100644 index 0000000..090ab9f --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/config/HAP_config.json @@ -0,0 +1,42 @@ +{ + "lidar_summary_info" : { + "lidar_type": 8 + }, + "HAP": { + "lidar_net_info" : { + "cmd_data_port": 56000, + "push_msg_port": 0, + "point_data_port": 57000, + "imu_data_port": 58000, + "log_data_port": 59000 + }, + "host_net_info" : { + "cmd_data_ip" : "192.168.1.5", + "cmd_data_port": 56000, + "push_msg_ip": "", + "push_msg_port": 0, + "point_data_ip": "192.168.1.5", + "point_data_port": 57000, + "imu_data_ip" : "192.168.1.5", + "imu_data_port": 58000, + "log_data_ip" : "", + "log_data_port": 59000 + } + }, + "lidar_configs" : [ + { + "ip" : "192.168.1.100", + "pcl_data_type" : 1, + "pattern_mode" : 0, + "extrinsic_parameter" : { + "roll": 0.0, + "pitch": 0.0, + "yaw": 0.0, + "x": 0, + "y": 0, + "z": 0 + } + } + ] +} + diff --git a/src/rm_driver/livox_ros_driver2/src/config/MID360_config.json b/src/rm_driver/livox_ros_driver2/src/config/MID360_config.json new file mode 100644 index 0000000..93f10c8 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/config/MID360_config.json @@ -0,0 +1,41 @@ +{ + "lidar_summary_info" : { + "lidar_type": 8 + }, + "MID360": { + "lidar_net_info" : { + "cmd_data_port": 56100, + "push_msg_port": 56200, + "point_data_port": 56300, + "imu_data_port": 56400, + "log_data_port": 56500 + }, + "host_net_info" : { + "cmd_data_ip" : "192.168.1.50", + "cmd_data_port": 56101, + "push_msg_ip": "192.168.1.50", + "push_msg_port": 56201, + "point_data_ip": "192.168.1.50", + "point_data_port": 56301, + "imu_data_ip" : "192.168.1.50", + "imu_data_port": 56401, + "log_data_ip" : "", + "log_data_port": 56501 + } + }, + "lidar_configs" : [ + { + "ip" : "192.168.1.176", + "pcl_data_type" : 1, + "pattern_mode" : 0, + "extrinsic_parameter" : { + "roll": 180.0, + "pitch": 0.0, + "yaw": 0.0, + "x": 0, + "y": 0, + "z": 0 + } + } + ] +} diff --git a/src/rm_driver/livox_ros_driver2/src/config/display_point_cloud.rviz b/src/rm_driver/livox_ros_driver2/src/config/display_point_cloud.rviz new file mode 100644 index 0000000..c044254 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/config/display_point_cloud.rviz @@ -0,0 +1,137 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /PointCloud21 + Splitter Ratio: 0.5 + Tree Height: 796 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0.20000000298023224 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 150 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /livox/lidar + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: livox_frame + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Topic: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: /move_base_simple/goal + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 14.215983390808105 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.9503982067108154 + Target Frame: + Value: Orbit (rviz) + Yaw: 2.6603963375091553 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1025 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000015f000003a7fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003a7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003a7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004c3000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1853 + X: 67 + Y: 27 diff --git a/src/rm_driver/livox_ros_driver2/src/config/mixed_HAP_MID360_config.json b/src/rm_driver/livox_ros_driver2/src/config/mixed_HAP_MID360_config.json new file mode 100644 index 0000000..0539b1e --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/config/mixed_HAP_MID360_config.json @@ -0,0 +1,76 @@ +{ + "lidar_summary_info" : { + "lidar_type": 8 + }, + "HAP": { + "lidar_net_info" : { + "cmd_data_port": 56000, + "push_msg_port": 0, + "point_data_port": 57000, + "imu_data_port": 58000, + "log_data_port": 59000 + }, + "host_net_info" : { + "cmd_data_ip" : "192.168.1.5", + "cmd_data_port": 56000, + "push_msg_ip": "", + "push_msg_port": 0, + "point_data_ip": "192.168.1.5", + "point_data_port": 57000, + "imu_data_ip" : "192.168.1.5", + "imu_data_port": 58000, + "log_data_ip" : "", + "log_data_port": 59000 + } + }, + "MID360": { + "lidar_net_info" : { + "cmd_data_port": 56100, + "push_msg_port": 56200, + "point_data_port": 56300, + "imu_data_port": 56400, + "log_data_port": 56500 + }, + "host_net_info" : { + "cmd_data_ip" : "192.168.1.5", + "cmd_data_port": 56101, + "push_msg_ip": "192.168.1.5", + "push_msg_port": 56201, + "point_data_ip": "192.168.1.5", + "point_data_port": 56301, + "imu_data_ip" : "192.168.1.5", + "imu_data_port": 56401, + "log_data_ip" : "", + "log_data_port": 56501 + } + }, + "lidar_configs" : [ + { + "ip" : "192.168.1.100", + "pcl_data_type" : 1, + "pattern_mode" : 0, + "extrinsic_parameter" : { + "roll": 0.0, + "pitch": 0.0, + "yaw": 0.0, + "x": 0, + "y": 0, + "z": 0 + } + }, + { + "ip" : "192.168.1.12", + "pcl_data_type" : 1, + "pattern_mode" : 0, + "extrinsic_parameter" : { + "roll": 0.0, + "pitch": 0.0, + "yaw": 0.0, + "x": 0, + "y": 0, + "z": 0 + } + } + ] +} + diff --git a/src/rm_driver/livox_ros_driver2/src/launch/msg_HAP_launch.py b/src/rm_driver/livox_ros_driver2/src/launch/msg_HAP_launch.py new file mode 100644 index 0000000..2ff3d66 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/launch/msg_HAP_launch.py @@ -0,0 +1,55 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node +import launch + +################### user configure parameters for ros2 start ################### +xfer_format = 1 # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format +multi_topic = 0 # 0-All LiDARs share the same topic, 1-One LiDAR one topic +data_src = 0 # 0-lidar, others-Invalid data src +publish_freq = 10.0 # freqency of publish, 5.0, 10.0, 20.0, 50.0, etc. +output_type = 0 +frame_id = 'livox_frame' +lvx_file_path = '/home/livox/livox_test.lvx' +cmdline_bd_code = 'livox0000000001' + +cur_path = os.path.split(os.path.realpath(__file__))[0] + '/' +cur_config_path = cur_path + '../config' +rviz_config_path = os.path.join(cur_config_path, 'livox_lidar.rviz') +user_config_path = os.path.join(cur_config_path, 'HAP_config.json') +################### user configure parameters for ros2 end ##################### + +livox_ros2_params = [ + {"xfer_format": xfer_format}, + {"multi_topic": multi_topic}, + {"data_src": data_src}, + {"publish_freq": publish_freq}, + {"output_data_type": output_type}, + {"frame_id": frame_id}, + {"lvx_file_path": lvx_file_path}, + {"user_config_path": user_config_path}, + {"cmdline_input_bd_code": cmdline_bd_code} +] + + +def generate_launch_description(): + livox_driver = Node( + package='livox_ros_driver2', + executable='livox_ros_driver2_node', + name='livox_lidar_publisher', + output='screen', + parameters=livox_ros2_params + ) + + return LaunchDescription([ + livox_driver, + # launch.actions.RegisterEventHandler( + # event_handler=launch.event_handlers.OnProcessExit( + # target_action=livox_rviz, + # on_exit=[ + # launch.actions.EmitEvent(event=launch.events.Shutdown()), + # ] + # ) + # ) + ]) diff --git a/src/rm_driver/livox_ros_driver2/src/launch/msg_MID360_launch.py b/src/rm_driver/livox_ros_driver2/src/launch/msg_MID360_launch.py new file mode 100644 index 0000000..86940d9 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/launch/msg_MID360_launch.py @@ -0,0 +1,54 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node +import launch + +################### user configure parameters for ros2 start ################### +xfer_format = 4 # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format +multi_topic = 0 # 0-All LiDARs share the same topic, 1-One LiDAR one topic +data_src = 0 # 0-lidar, others-Invalid data src +publish_freq = 10.0 # freqency of publish, 5.0, 10.0, 20.0, 50.0, etc. +output_type = 0 +frame_id = 'livox_frame' +lvx_file_path = '/home/livox/livox_test.lvx' +cmdline_bd_code = 'livox0000000001' + +cur_path = os.path.split(os.path.realpath(__file__))[0] + '/' +cur_config_path = cur_path + '../config' +user_config_path = os.path.join(cur_config_path, 'MID360_config.json') +################### user configure parameters for ros2 end ##################### + +livox_ros2_params = [ + {"xfer_format": xfer_format}, + {"multi_topic": multi_topic}, + {"data_src": data_src}, + {"publish_freq": publish_freq}, + {"output_data_type": output_type}, + {"frame_id": frame_id}, + {"lvx_file_path": lvx_file_path}, + {"user_config_path": user_config_path}, + {"cmdline_input_bd_code": cmdline_bd_code} +] + + +def generate_launch_description(): + livox_driver = Node( + package='livox_ros_driver2', + executable='livox_ros_driver2_node', + name='livox_lidar_publisher', + output='screen', + parameters=livox_ros2_params + ) + + return LaunchDescription([ + livox_driver, + # launch.actions.RegisterEventHandler( + # event_handler=launch.event_handlers.OnProcessExit( + # target_action=livox_rviz, + # on_exit=[ + # launch.actions.EmitEvent(event=launch.events.Shutdown()), + # ] + # ) + # ) + ]) diff --git a/src/rm_driver/livox_ros_driver2/src/launch/rviz_HAP_launch.py b/src/rm_driver/livox_ros_driver2/src/launch/rviz_HAP_launch.py new file mode 100644 index 0000000..ed63e40 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/launch/rviz_HAP_launch.py @@ -0,0 +1,63 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node +import launch + +################### user configure parameters for ros2 start ################### +xfer_format = 0 # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format +multi_topic = 0 # 0-All LiDARs share the same topic, 1-One LiDAR one topic +data_src = 0 # 0-lidar, others-Invalid data src +publish_freq = 10.0 # freqency of publish, 5.0, 10.0, 20.0, 50.0, etc. +output_type = 0 +frame_id = 'livox_frame' +lvx_file_path = '/home/livox/livox_test.lvx' +cmdline_bd_code = 'livox0000000001' + +cur_path = os.path.split(os.path.realpath(__file__))[0] + '/' +cur_config_path = cur_path + '../config' +rviz_config_path = os.path.join(cur_config_path, 'display_point_cloud.rviz') +user_config_path = os.path.join(cur_config_path, 'HAP_config.json') +################### user configure parameters for ros2 end ##################### + +livox_ros2_params = [ + {"xfer_format": xfer_format}, + {"multi_topic": multi_topic}, + {"data_src": data_src}, + {"publish_freq": publish_freq}, + {"output_data_type": output_type}, + {"frame_id": frame_id}, + {"lvx_file_path": lvx_file_path}, + {"user_config_path": user_config_path}, + {"cmdline_input_bd_code": cmdline_bd_code} +] + + +def generate_launch_description(): + livox_driver = Node( + package='livox_ros_driver2', + executable='livox_ros_driver2_node', + name='livox_lidar_publisher', + output='screen', + parameters=livox_ros2_params + ) + + livox_rviz = Node( + package='rviz2', + executable='rviz2', + output='screen', + arguments=['--display-config', rviz_config_path] + ) + + return LaunchDescription([ + livox_driver, + livox_rviz, + # launch.actions.RegisterEventHandler( + # event_handler=launch.event_handlers.OnProcessExit( + # target_action=livox_rviz, + # on_exit=[ + # launch.actions.EmitEvent(event=launch.events.Shutdown()), + # ] + # ) + # ) + ]) diff --git a/src/rm_driver/livox_ros_driver2/src/launch/rviz_MID360_launch.py b/src/rm_driver/livox_ros_driver2/src/launch/rviz_MID360_launch.py new file mode 100644 index 0000000..eab1efb --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/launch/rviz_MID360_launch.py @@ -0,0 +1,63 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node +import launch + +################### user configure parameters for ros2 start ################### +xfer_format = 0 # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format +multi_topic = 0 # 0-All LiDARs share the same topic, 1-One LiDAR one topic +data_src = 0 # 0-lidar, others-Invalid data src +publish_freq = 10.0 # freqency of publish, 5.0, 10.0, 20.0, 50.0, etc. +output_type = 0 +frame_id = 'livox_frame' +lvx_file_path = '/home/livox/livox_test.lvx' +cmdline_bd_code = 'livox0000000001' + +cur_path = os.path.split(os.path.realpath(__file__))[0] + '/' +cur_config_path = cur_path + '../config' +rviz_config_path = os.path.join(cur_config_path, 'display_point_cloud.rviz') +user_config_path = os.path.join(cur_config_path, 'MID360_config.json') +################### user configure parameters for ros2 end ##################### + +livox_ros2_params = [ + {"xfer_format": xfer_format}, + {"multi_topic": multi_topic}, + {"data_src": data_src}, + {"publish_freq": publish_freq}, + {"output_data_type": output_type}, + {"frame_id": frame_id}, + {"lvx_file_path": lvx_file_path}, + {"user_config_path": user_config_path}, + {"cmdline_input_bd_code": cmdline_bd_code} +] + + +def generate_launch_description(): + livox_driver = Node( + package='livox_ros_driver2', + executable='livox_ros_driver2_node', + name='livox_lidar_publisher', + output='screen', + parameters=livox_ros2_params + ) + + livox_rviz = Node( + package='rviz2', + executable='rviz2', + output='screen', + arguments=['--display-config', rviz_config_path] + ) + + return LaunchDescription([ + livox_driver, + livox_rviz, + # launch.actions.RegisterEventHandler( + # event_handler=launch.event_handlers.OnProcessExit( + # target_action=livox_rviz, + # on_exit=[ + # launch.actions.EmitEvent(event=launch.events.Shutdown()), + # ] + # ) + # ) + ]) diff --git a/src/rm_driver/livox_ros_driver2/src/launch/rviz_mixed.py b/src/rm_driver/livox_ros_driver2/src/launch/rviz_mixed.py new file mode 100644 index 0000000..5ddd6c4 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/launch/rviz_mixed.py @@ -0,0 +1,63 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node +import launch + +################### user configure parameters for ros2 start ################### +xfer_format = 0 # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format +multi_topic = 0 # 0-All LiDARs share the same topic, 1-One LiDAR one topic +data_src = 0 # 0-lidar, others-Invalid data src +publish_freq = 10.0 # freqency of publish, 5.0, 10.0, 20.0, 50.0, etc. +output_type = 0 +frame_id = 'livox_frame' +lvx_file_path = '/home/livox/livox_test.lvx' +cmdline_bd_code = 'livox0000000001' + +cur_path = os.path.split(os.path.realpath(__file__))[0] + '/' +cur_config_path = cur_path + '../config' +rviz_config_path = os.path.join(cur_config_path, 'display_point_cloud.rviz') +user_config_path = os.path.join(cur_config_path, 'mixed_HAP_MID360_config.json') +################### user configure parameters for ros2 end ##################### + +livox_ros2_params = [ + {"xfer_format": xfer_format}, + {"multi_topic": multi_topic}, + {"data_src": data_src}, + {"publish_freq": publish_freq}, + {"output_data_type": output_type}, + {"frame_id": frame_id}, + {"lvx_file_path": lvx_file_path}, + {"user_config_path": user_config_path}, + {"cmdline_input_bd_code": cmdline_bd_code} +] + + +def generate_launch_description(): + livox_driver = Node( + package='livox_ros_driver2', + executable='livox_ros_driver2_node', + name='livox_lidar_publisher', + output='screen', + parameters=livox_ros2_params + ) + + livox_rviz = Node( + package='rviz2', + executable='rviz2', + output='screen', + arguments=['--display-config', rviz_config_path] + ) + + return LaunchDescription([ + livox_driver, + livox_rviz, + # launch.actions.RegisterEventHandler( + # event_handler=launch.event_handlers.OnProcessExit( + # target_action=livox_rviz, + # on_exit=[ + # launch.actions.EmitEvent(event=launch.events.Shutdown()), + # ] + # ) + # ) + ]) diff --git a/src/rm_driver/livox_ros_driver2/src/lib/liblivox_lidar_sdk_shared.so b/src/rm_driver/livox_ros_driver2/src/lib/liblivox_lidar_sdk_shared.so new file mode 100644 index 0000000..7df12c5 Binary files /dev/null and b/src/rm_driver/livox_ros_driver2/src/lib/liblivox_lidar_sdk_shared.so differ diff --git a/src/rm_driver/livox_ros_driver2/src/msg/CustomMsg.msg b/src/rm_driver/livox_ros_driver2/src/msg/CustomMsg.msg new file mode 100644 index 0000000..91f044b --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/msg/CustomMsg.msg @@ -0,0 +1,9 @@ +# Livox publish pointcloud msg format. + +std_msgs/Header header # ROS standard message header +uint64 timebase # The time of first point +uint32 point_num # Total number of pointclouds +uint8 lidar_id # Lidar device id number +uint8[3] rsvd # Reserved use +CustomPoint[] points # Pointcloud data + diff --git a/src/rm_driver/livox_ros_driver2/src/msg/CustomPoint.msg b/src/rm_driver/livox_ros_driver2/src/msg/CustomPoint.msg new file mode 100644 index 0000000..34719b2 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/msg/CustomPoint.msg @@ -0,0 +1,10 @@ +# Livox costom pointcloud format. + +uint32 offset_time # offset time relative to the base time +float32 x # X axis, unit:m +float32 y # Y axis, unit:m +float32 z # Z axis, unit:m +uint8 reflectivity # reflectivity, 0~255 +uint8 tag # livox tag +uint8 line # laser number in lidar + diff --git a/src/rm_driver/livox_ros_driver2/src/package.xml b/src/rm_driver/livox_ros_driver2/src/package.xml new file mode 100644 index 0000000..96f5762 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/package.xml @@ -0,0 +1,35 @@ + + + + livox_ros_driver2 + 1.0.0 + The ROS device driver for Livox 3D LiDARs, for ROS2 + feng + MIT + + ament_cmake_auto + rosidl_default_generators + rosidl_interface_packages + + rclcpp + rclcpp_components + std_msgs + sensor_msgs + rcutils + pcl_conversions + rcl_interfaces + libpcl-all-dev + + rosbag2 + rosidl_default_runtime + + ament_lint_auto + ament_lint_common + + git + apr + + + ament_cmake + + diff --git a/src/rm_driver/livox_ros_driver2/src/src/call_back/lidar_common_callback.cpp b/src/rm_driver/livox_ros_driver2/src/src/call_back/lidar_common_callback.cpp new file mode 100644 index 0000000..43efb24 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/call_back/lidar_common_callback.cpp @@ -0,0 +1,73 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#include "lidar_common_callback.h" + +#include "../lds_lidar.h" + +#include + +namespace livox_ros { + +void LidarCommonCallback::OnLidarPointClounCb(PointFrame* frame, void* client_data) { + if (frame == nullptr) { + printf("LidarPointCloudCb frame is nullptr.\n"); + return; + } + + if (client_data == nullptr) { + printf("Lidar point cloud cb failed, client data is nullptr.\n"); + return; + } + + if (frame->lidar_num ==0) { + printf("LidarPointCloudCb lidar_num:%u.\n", frame->lidar_num); + return; + } + + LdsLidar *lds_lidar = static_cast(client_data); + + //printf("Lidar point cloud, lidar_num:%u.\n", frame->lidar_num); + + lds_lidar->StoragePointData(frame); +} + +void LidarCommonCallback::LidarImuDataCallback(ImuData* imu_data, void *client_data) { + if (imu_data == nullptr) { + printf("Imu data is nullptr.\n"); + return; + } + if (client_data == nullptr) { + printf("Lidar point cloud cb failed, client data is nullptr.\n"); + return; + } + + LdsLidar *lds_lidar = static_cast(client_data); + lds_lidar->StorageImuData(imu_data); +} + +} // namespace livox_ros + + + diff --git a/src/rm_driver/livox_ros_driver2/src/src/call_back/lidar_common_callback.h b/src/rm_driver/livox_ros_driver2/src/src/call_back/lidar_common_callback.h new file mode 100644 index 0000000..4ff6803 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/call_back/lidar_common_callback.h @@ -0,0 +1,40 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#ifndef LIVOX_ROS_DRIVER_LIDAR_COMMON_CALLBACK_H_ +#define LIVOX_ROS_DRIVER_LIDAR_COMMON_CALLBACK_H_ + +#include "comm/comm.h" + +namespace livox_ros { + +class LidarCommonCallback { + public: + static void OnLidarPointClounCb(PointFrame* frame, void* client_data); + static void LidarImuDataCallback(ImuData* imu_data, void *client_data); +}; + +} // namespace livox_ros + +#endif // LIVOX_ROS_DRIVER_LIDAR_COMMON_CALLBACK_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/src/call_back/livox_lidar_callback.cpp b/src/rm_driver/livox_ros_driver2/src/src/call_back/livox_lidar_callback.cpp new file mode 100644 index 0000000..60bb237 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/call_back/livox_lidar_callback.cpp @@ -0,0 +1,333 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#include "livox_lidar_callback.h" + +#include +#include +#include + +namespace livox_ros { + +void LivoxLidarCallback::LidarInfoChangeCallback(const uint32_t handle, + const LivoxLidarInfo* info, + void* client_data) { + if (client_data == nullptr) { + std::cout << "lidar info change callback failed, client data is nullptr" << std::endl; + return; + } + LdsLidar* lds_lidar = static_cast(client_data); + + LidarDevice* lidar_device = GetLidarDevice(handle, client_data); + if (lidar_device == nullptr) { + std::cout << "found lidar not defined in the user-defined config, ip: " << IpNumToString(handle) << std::endl; + // add lidar device + uint8_t index = 0; + int8_t ret = lds_lidar->cache_index_.GetFreeIndex(kLivoxLidarType, handle, index); + if (ret != 0) { + std::cout << "failed to add lidar device, lidar ip: " << IpNumToString(handle) << std::endl; + return; + } + LidarDevice *p_lidar = &(lds_lidar->lidars_[index]); + p_lidar->lidar_type = kLivoxLidarType; + } else { + // set the lidar according to the user-defined config + const UserLivoxLidarConfig& config = lidar_device->livox_config; + + // lock for modify the lidar device set_bits + { + std::lock_guard lock(lds_lidar->config_mutex_); + if (config.pcl_data_type != -1 ) { + lidar_device->livox_config.set_bits |= kConfigDataType; + SetLivoxLidarPclDataType(handle, static_cast(config.pcl_data_type), + LivoxLidarCallback::SetDataTypeCallback, lds_lidar); + std::cout << "set pcl data type, handle: " << handle << ", data type: " + << static_cast(config.pcl_data_type) << std::endl; + } + if (config.pattern_mode != -1) { + lidar_device->livox_config.set_bits |= kConfigScanPattern; + SetLivoxLidarScanPattern(handle, static_cast(config.pattern_mode), + LivoxLidarCallback::SetPatternModeCallback, lds_lidar); + std::cout << "set scan pattern, handle: " << handle << ", scan pattern: " + << static_cast(config.pattern_mode) << std::endl; + } + if (config.blind_spot_set != -1) { + lidar_device->livox_config.set_bits |= kConfigBlindSpot; + SetLivoxLidarBlindSpot(handle, config.blind_spot_set, + LivoxLidarCallback::SetBlindSpotCallback, lds_lidar); + + std::cout << "set blind spot, handle: " << handle << ", blind spot distance: " + << config.blind_spot_set << std::endl; + } + if (config.dual_emit_en != -1) { + lidar_device->livox_config.set_bits |= kConfigDualEmit; + SetLivoxLidarDualEmit(handle, (config.dual_emit_en == 0 ? false : true), + LivoxLidarCallback::SetDualEmitCallback, lds_lidar); + std::cout << "set dual emit mode, handle: " << handle << ", enable dual emit: " + << static_cast(config.dual_emit_en) << std::endl; + } + } // free lock for set_bits + + // set extrinsic params into lidar + LivoxLidarInstallAttitude attitude { + config.extrinsic_param.roll, + config.extrinsic_param.pitch, + config.extrinsic_param.yaw, + config.extrinsic_param.x, + config.extrinsic_param.y, + config.extrinsic_param.z + }; + SetLivoxLidarInstallAttitude(config.handle, &attitude, + LivoxLidarCallback::SetAttitudeCallback, lds_lidar); + } + + std::cout << "begin to change work mode to 'Normal', handle: " << handle << std::endl; + SetLivoxLidarWorkMode(handle, kLivoxLidarNormal, WorkModeChangedCallback, nullptr); + EnableLivoxLidarImuData(handle, LivoxLidarCallback::EnableLivoxLidarImuDataCallback, lds_lidar); + return; +} + +void LivoxLidarCallback::WorkModeChangedCallback(livox_status status, + uint32_t handle, + LivoxLidarAsyncControlResponse *response, + void *client_data) { + if (status != kLivoxLidarStatusSuccess) { + std::cout << "failed to change work mode, handle: " << handle << ", try again..."<< std::endl; + std::this_thread::sleep_for(std::chrono::seconds(1)); + SetLivoxLidarWorkMode(handle, kLivoxLidarNormal, WorkModeChangedCallback, nullptr); + return; + } + std::cout << "successfully change work mode, handle: " << handle << std::endl; + return; +} + +void LivoxLidarCallback::SetDataTypeCallback(livox_status status, uint32_t handle, + LivoxLidarAsyncControlResponse *response, + void *client_data) { + LidarDevice* lidar_device = GetLidarDevice(handle, client_data); + if (lidar_device == nullptr) { + std::cout << "failed to set data type since no lidar device found, handle: " + << handle << std::endl; + return; + } + LdsLidar* lds_lidar = static_cast(client_data); + + if (status == kLivoxLidarStatusSuccess) { + std::lock_guard lock(lds_lidar->config_mutex_); + lidar_device->livox_config.set_bits &= ~((uint32_t)(kConfigDataType)); + if (!lidar_device->livox_config.set_bits) { + lidar_device->connect_state = kConnectStateSampling; + } + std::cout << "successfully set data type, handle: " << handle + << ", set_bit: " << lidar_device->livox_config.set_bits << std::endl; + } else if (status == kLivoxLidarStatusTimeout) { + const UserLivoxLidarConfig& config = lidar_device->livox_config; + SetLivoxLidarPclDataType(handle, static_cast(config.pcl_data_type), + LivoxLidarCallback::SetDataTypeCallback, client_data); + std::cout << "set data type timeout, handle: " << handle + << ", try again..." << std::endl; + } else { + std::cout << "failed to set data type, handle: " << handle + << ", return code: " << response->ret_code + << ", error key: " << response->error_key << std::endl; + } + return; +} + +void LivoxLidarCallback::SetPatternModeCallback(livox_status status, uint32_t handle, + LivoxLidarAsyncControlResponse *response, + void *client_data) { + LidarDevice* lidar_device = GetLidarDevice(handle, client_data); + if (lidar_device == nullptr) { + std::cout << "failed to set pattern mode since no lidar device found, handle: " + << handle << std::endl; + return; + } + LdsLidar* lds_lidar = static_cast(client_data); + + if (status == kLivoxLidarStatusSuccess) { + std::lock_guard lock(lds_lidar->config_mutex_); + lidar_device->livox_config.set_bits &= ~((uint32_t)(kConfigScanPattern)); + if (!lidar_device->livox_config.set_bits) { + lidar_device->connect_state = kConnectStateSampling; + } + std::cout << "successfully set pattern mode, handle: " << handle + << ", set_bit: " << lidar_device->livox_config.set_bits << std::endl; + } else if (status == kLivoxLidarStatusTimeout) { + const UserLivoxLidarConfig& config = lidar_device->livox_config; + SetLivoxLidarScanPattern(handle, static_cast(config.pattern_mode), + LivoxLidarCallback::SetPatternModeCallback, client_data); + std::cout << "set pattern mode timeout, handle: " << handle + << ", try again..." << std::endl; + } else { + std::cout << "failed to set pattern mode, handle: " << handle + << ", return code: " << response->ret_code + << ", error key: " << response->error_key << std::endl; + } + return; +} + +void LivoxLidarCallback::SetBlindSpotCallback(livox_status status, uint32_t handle, + LivoxLidarAsyncControlResponse *response, + void *client_data) { + LidarDevice* lidar_device = GetLidarDevice(handle, client_data); + if (lidar_device == nullptr) { + std::cout << "failed to set blind spot since no lidar device found, handle: " + << handle << std::endl; + return; + } + LdsLidar* lds_lidar = static_cast(client_data); + + if (status == kLivoxLidarStatusSuccess) { + std::lock_guard lock(lds_lidar->config_mutex_); + lidar_device->livox_config.set_bits &= ~((uint32_t)(kConfigBlindSpot)); + if (!lidar_device->livox_config.set_bits) { + lidar_device->connect_state = kConnectStateSampling; + } + std::cout << "successfully set blind spot, handle: " << handle + << ", set_bit: " << lidar_device->livox_config.set_bits << std::endl; + } else if (status == kLivoxLidarStatusTimeout) { + const UserLivoxLidarConfig& config = lidar_device->livox_config; + SetLivoxLidarBlindSpot(handle, config.blind_spot_set, + LivoxLidarCallback::SetBlindSpotCallback, client_data); + std::cout << "set blind spot timeout, handle: " << handle + << ", try again..." << std::endl; + } else { + std::cout << "failed to set blind spot, handle: " << handle + << ", return code: " << response->ret_code + << ", error key: " << response->error_key << std::endl; + } + return; +} + +void LivoxLidarCallback::SetDualEmitCallback(livox_status status, uint32_t handle, + LivoxLidarAsyncControlResponse *response, + void *client_data) { + LidarDevice* lidar_device = GetLidarDevice(handle, client_data); + if (lidar_device == nullptr) { + std::cout << "failed to set dual emit mode since no lidar device found, handle: " + << handle << std::endl; + return; + } + + LdsLidar* lds_lidar = static_cast(client_data); + if (status == kLivoxLidarStatusSuccess) { + std::lock_guard lock(lds_lidar->config_mutex_); + lidar_device->livox_config.set_bits &= ~((uint32_t)(kConfigDualEmit)); + if (!lidar_device->livox_config.set_bits) { + lidar_device->connect_state = kConnectStateSampling; + } + std::cout << "successfully set dual emit mode, handle: " << handle + << ", set_bit: " << lidar_device->livox_config.set_bits << std::endl; + } else if (status == kLivoxLidarStatusTimeout) { + const UserLivoxLidarConfig& config = lidar_device->livox_config; + SetLivoxLidarDualEmit(handle, config.dual_emit_en, + LivoxLidarCallback::SetDualEmitCallback, client_data); + std::cout << "set dual emit mode timeout, handle: " << handle + << ", try again..." << std::endl; + } else { + std::cout << "failed to set dual emit mode, handle: " << handle + << ", return code: " << response->ret_code + << ", error key: " << response->error_key << std::endl; + } + return; +} + +void LivoxLidarCallback::SetAttitudeCallback(livox_status status, uint32_t handle, + LivoxLidarAsyncControlResponse *response, + void *client_data) { + LidarDevice* lidar_device = GetLidarDevice(handle, client_data); + if (lidar_device == nullptr) { + std::cout << "failed to set dual emit mode since no lidar device found, handle: " + << handle << std::endl; + return; + } + + LdsLidar* lds_lidar = static_cast(client_data); + if (status == kLivoxLidarStatusSuccess) { + std::cout << "successfully set lidar attitude, ip: " << IpNumToString(handle) << std::endl; + } else if (status == kLivoxLidarStatusTimeout) { + std::cout << "set lidar attitude timeout, ip: " << IpNumToString(handle) + << ", try again..." << std::endl; + const UserLivoxLidarConfig& config = lidar_device->livox_config; + LivoxLidarInstallAttitude attitude { + config.extrinsic_param.roll, + config.extrinsic_param.pitch, + config.extrinsic_param.yaw, + config.extrinsic_param.x, + config.extrinsic_param.y, + config.extrinsic_param.z + }; + SetLivoxLidarInstallAttitude(config.handle, &attitude, + LivoxLidarCallback::SetAttitudeCallback, lds_lidar); + } else { + std::cout << "failed to set lidar attitude, ip: " << IpNumToString(handle) << std::endl; + } +} + +void LivoxLidarCallback::EnableLivoxLidarImuDataCallback(livox_status status, uint32_t handle, + LivoxLidarAsyncControlResponse *response, + void *client_data) { + LidarDevice* lidar_device = GetLidarDevice(handle, client_data); + if (lidar_device == nullptr) { + std::cout << "failed to set pattern mode since no lidar device found, handle: " + << handle << std::endl; + return; + } + LdsLidar* lds_lidar = static_cast(client_data); + + if (response == nullptr) { + std::cout << "failed to get response since no lidar IMU sensor found, handle: " + << handle << std::endl; + return; + } + + if (status == kLivoxLidarStatusSuccess) { + std::cout << "successfully enable Livox Lidar imu, ip: " << IpNumToString(handle) << std::endl; + } else if (status == kLivoxLidarStatusTimeout) { + std::cout << "enable Livox Lidar imu timeout, ip: " << IpNumToString(handle) + << ", try again..." << std::endl; + EnableLivoxLidarImuData(handle, LivoxLidarCallback::EnableLivoxLidarImuDataCallback, lds_lidar); + } else { + std::cout << "failed to enable Livox Lidar imu, ip: " << IpNumToString(handle) << std::endl; + } +} + +LidarDevice* LivoxLidarCallback::GetLidarDevice(const uint32_t handle, void* client_data) { + if (client_data == nullptr) { + std::cout << "failed to get lidar device, client data is nullptr" << std::endl; + return nullptr; + } + + LdsLidar* lds_lidar = static_cast(client_data); + uint8_t index = 0; + int8_t ret = lds_lidar->cache_index_.GetIndex(kLivoxLidarType, handle, index); + if (ret != 0) { + return nullptr; + } + + return &(lds_lidar->lidars_[index]); +} + +} // namespace livox_ros diff --git a/src/rm_driver/livox_ros_driver2/src/src/call_back/livox_lidar_callback.h b/src/rm_driver/livox_ros_driver2/src/src/call_back/livox_lidar_callback.h new file mode 100644 index 0000000..1b6b549 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/call_back/livox_lidar_callback.h @@ -0,0 +1,71 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#ifndef LIVOX_ROS_DRIVER_LIVOX_LIDAR_CALLBACK_H_ +#define LIVOX_ROS_DRIVER_LIVOX_LIDAR_CALLBACK_H_ + +#include "../lds.h" +#include "../lds_lidar.h" +#include "../comm/comm.h" + +#include "livox_lidar_api.h" +#include "livox_lidar_def.h" + +namespace livox_ros { + +class LivoxLidarCallback { + public: + static void LidarInfoChangeCallback(const uint32_t handle, + const LivoxLidarInfo* info, + void* client_data); + static void WorkModeChangedCallback(livox_status status, + uint32_t handle, + LivoxLidarAsyncControlResponse *response, + void *client_data); + static void SetDataTypeCallback(livox_status status, uint32_t handle, + LivoxLidarAsyncControlResponse *response, + void *client_data); + static void SetPatternModeCallback(livox_status status, uint32_t handle, + LivoxLidarAsyncControlResponse *response, + void *client_data); + static void SetBlindSpotCallback(livox_status status, uint32_t handle, + LivoxLidarAsyncControlResponse *response, + void *client_data); + static void SetDualEmitCallback(livox_status status, uint32_t handle, + LivoxLidarAsyncControlResponse *response, + void *client_data); + static void SetAttitudeCallback(livox_status status, uint32_t handle, + LivoxLidarAsyncControlResponse *response, + void *client_data); + static void EnableLivoxLidarImuDataCallback(livox_status status, uint32_t handle, + LivoxLidarAsyncControlResponse *response, + void *client_data); + + private: + static LidarDevice* GetLidarDevice(const uint32_t handle, void* client_data); +}; + +} // namespace livox_ros + +#endif // LIVOX_ROS_DRIVER_LIVOX_LIDAR_CALLBACK_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/src/comm/cache_index.cpp b/src/rm_driver/livox_ros_driver2/src/src/comm/cache_index.cpp new file mode 100644 index 0000000..33e6500 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/comm/cache_index.cpp @@ -0,0 +1,121 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#include "cache_index.h" +#include "livox_lidar_def.h" + +namespace livox_ros { + +CacheIndex::CacheIndex() { + std::array index_cache = {0}; + index_cache_.swap(index_cache); +} + +int8_t CacheIndex::GetFreeIndex(const uint8_t livox_lidar_type, const uint32_t handle, uint8_t& index) { + std::string key; + int8_t ret = GenerateIndexKey(livox_lidar_type, handle, key); + if (ret != 0) { + return -1; + } + { + std::lock_guard lock(index_mutex_); + if (map_index_.find(key) != map_index_.end()) { + index = map_index_[key]; + return 0; + } + } + + { + printf("GetFreeIndex key:%s.\n", key.c_str()); + std::lock_guard lock(index_mutex_); + for (size_t i = 0; i < kMaxSourceLidar; ++i) { + if (!index_cache_[i]) { + index_cache_[i] = 1; + map_index_[key] = static_cast(i); + index = static_cast(i); + return 0; + } + } + } + return -1; +} + +int8_t CacheIndex::GenerateIndexKey(const uint8_t livox_lidar_type, const uint32_t handle, std::string& key) { + if (livox_lidar_type == kLivoxLidarType) { + key = "livox_lidar_" + std::to_string(handle); + } else { + printf("Can not generate index, the livox lidar type is unknown, the livox lidar type:%u\n", livox_lidar_type); + return -1; + } + return 0; +} + +int8_t CacheIndex::GetIndex(const uint8_t livox_lidar_type, const uint32_t handle, uint8_t& index) { + std::string key; + int8_t ret = GenerateIndexKey(livox_lidar_type, handle, key); + if (ret != 0) { + return -1; + } + + if (map_index_.find(key) != map_index_.end()) { + std::lock_guard lock(index_mutex_); + index = map_index_[key]; + return 0; + } + printf("Can not get index, the livox lidar type:%u, handle:%u\n", livox_lidar_type, handle); + return -1; +} + +int8_t CacheIndex::LvxGetIndex(const uint8_t livox_lidar_type, const uint32_t handle, uint8_t& index) { + std::string key; + int8_t ret = GenerateIndexKey(livox_lidar_type, handle, key); + if (ret != 0) { + return -1; + } + + if (map_index_.find(key) != map_index_.end()) { + index = map_index_[key]; + return 0; + } + + return GetFreeIndex(livox_lidar_type, handle, index); +} + +void CacheIndex::ResetIndex(LidarDevice *lidar) { + std::string key; + int8_t ret = GenerateIndexKey(lidar->lidar_type, lidar->handle, key); + if (ret != 0) { + printf("Reset index failed, can not generate index key, lidar type:%u, handle:%u.\n", lidar->lidar_type, lidar->handle); + return; + } + + if (map_index_.find(key) != map_index_.end()) { + uint8_t index = map_index_[key]; + std::lock_guard lock(index_mutex_); + map_index_.erase(key); + index_cache_[index] = 0; + } +} + +} // namespace diff --git a/src/rm_driver/livox_ros_driver2/src/src/comm/cache_index.h b/src/rm_driver/livox_ros_driver2/src/src/comm/cache_index.h new file mode 100644 index 0000000..9451eda --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/comm/cache_index.h @@ -0,0 +1,54 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#ifndef LIVOX_ROS_DRIVER_CACHE_INDEX_H_ +#define LIVOX_ROS_DRIVER_CACHE_INDEX_H_ + +#include +#include +#include +#include + +#include "comm/comm.h" + +namespace livox_ros { + +class CacheIndex { + public: + CacheIndex(); + int8_t GetFreeIndex(const uint8_t livox_lidar_type, const uint32_t handle, uint8_t& index); + int8_t GetIndex(const uint8_t livox_lidar_type, const uint32_t handle, uint8_t& index); + int8_t GenerateIndexKey(const uint8_t livox_lidar_type, const uint32_t handle, std::string& key); + int8_t LvxGetIndex(const uint8_t livox_lidar_type, const uint32_t handle, uint8_t& index); + void ResetIndex(LidarDevice *lidar); + + private: + std::mutex index_mutex_; + std::map map_index_; /* key:handle/slot, val:index */ + std::array index_cache_; +}; + +} // namespace livox_ros + +# endif // LIVOX_ROS_DRIVER_CACHE_INDEX_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/src/comm/comm.cpp b/src/rm_driver/livox_ros_driver2/src/src/comm/comm.cpp new file mode 100644 index 0000000..b3490cc --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/comm/comm.cpp @@ -0,0 +1,70 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#include "comm/comm.h" +#include +#include + +namespace livox_ros { + +/** Common function --------------------------------------------------------- */ +bool IsFilePathValid(const char *path_str) { + int str_len = strlen(path_str); + + if ((str_len > kPathStrMinSize) && (str_len < kPathStrMaxSize)) { + return true; + } else { + return false; + } +} + +uint32_t CalculatePacketQueueSize(const double publish_freq) { + uint32_t queue_size = 10; + if (publish_freq > 10.0) { + queue_size = static_cast(publish_freq) + 1; + } + return queue_size; +} + +std::string IpNumToString(uint32_t ip_num) { + struct in_addr ip; + ip.s_addr = ip_num; + return std::string(inet_ntoa(ip)); +} + +uint32_t IpStringToNum(std::string ip_string) { + return static_cast(inet_addr(ip_string.c_str())); +} + +std::string ReplacePeriodByUnderline(std::string str) { + std::size_t pos = str.find("."); + while (pos != std::string::npos) { + str.replace(pos, 1, "_"); + pos = str.find("."); + } + return str; +} + +} // namespace livox_ros + diff --git a/src/rm_driver/livox_ros_driver2/src/src/comm/comm.h b/src/rm_driver/livox_ros_driver2/src/src/comm/comm.h new file mode 100644 index 0000000..492b39e --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/comm/comm.h @@ -0,0 +1,304 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#ifndef LIVOX_ROS_DRIVER2_COMM_H_ +#define LIVOX_ROS_DRIVER2_COMM_H_ + +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include "lidar_imu_data_queue.h" + +namespace livox_ros { + +/** Max lidar data source num */ +const uint8_t kMaxSourceLidar = 32; + + +/** Eth packet relative info parama */ +const uint32_t kMaxPointPerEthPacket = 100; +const uint32_t kMinEthPacketQueueSize = 32; /**< must be 2^n */ +const uint32_t kMaxEthPacketQueueSize = 131072; /**< must be 2^n */ +const uint32_t kImuEthPacketQueueSize = 256; + +/** Max packet length according to Ethernet MTU */ +const uint32_t KEthPacketMaxLength = 1500; +const uint32_t KEthPacketHeaderLength = 18; /**< (sizeof(LivoxEthPacket) - 1) */ +const uint32_t KCartesianPointSize = 13; +const uint32_t KSphericalPointSzie = 9; + +const uint64_t kRosTimeMax = 4294967296000000000; /**< 2^32 * 1000000000ns */ +const int64_t kPacketTimeGap = 1000000; /**< 1ms = 1000000ns */ +/**< the threshold of packet continuous */ +const int64_t kMaxPacketTimeGap = 1700000; +/**< the threshold of device disconect */ +const int64_t kDeviceDisconnectThreshold = 1000000000; +const uint32_t kNsPerSecond = 1000000000; /**< 1s = 1000000000ns */ +const uint32_t kNsTolerantFrameTimeDeviation = 1000000; /**< 1ms = 1000000ns */ +const uint32_t kRatioOfMsToNs = 1000000; /**< 1ms = 1000000ns */ + +const int kPathStrMinSize = 4; /**< Must more than 4 char */ +const int kPathStrMaxSize = 256; /**< Must less than 256 char */ +const int kBdCodeSize = 15; + +const uint32_t kPointXYZRSize = 16; +const uint32_t kPointXYZRTRSize = 18; + +const double PI = 3.14159265358979323846; + +constexpr uint32_t kMaxBufferSize = 0x8000; // 32k bytes + +/** Device Line Number **/ +const uint8_t kLineNumberDefault = 1; +const uint8_t kLineNumberMid360 = 4; +const uint8_t kLineNumberHAP = 6; + +// SDK related +typedef enum { + kIndustryLidarType = 1, + kVehicleLidarType = 2, + kDirectLidarType = 4, + kLivoxLidarType = 8 +} LidarProtoType; + +// SDK related +/** Timestamp sync mode define. */ +typedef enum { + kTimestampTypeNoSync = 0, /**< No sync signal mode. */ + kTimestampTypeGptpOrPtp = 1, /**< gPTP or PTP sync mode */ + kTimestampTypeGps = 2 /**< GPS sync mode. */ +} TimestampType; + +/** Lidar connect state */ +typedef enum { + kConnectStateOff = 0, + kConnectStateOn = 1, + kConnectStateConfig = 2, + kConnectStateSampling = 3, +} LidarConnectState; + +/** Device data source type */ +typedef enum { + kSourceRawLidar = 0, /**< Data from raw lidar. */ + kSourceRawHub = 1, /**< Data from lidar hub. */ + kSourceLvxFile, /**< Data from parse lvx file. */ + kSourceUndef, +} LidarDataSourceType; + +typedef enum { kCoordinateCartesian = 0, kCoordinateSpherical } CoordinateType; + +typedef enum { + kConfigDataType = 1 << 0, + kConfigScanPattern = 1 << 1, + kConfigBlindSpot = 1 << 2, + kConfigDualEmit = 1 << 3, + kConfigUnknown +} LivoxLidarConfigCodeBit; + +typedef enum { + kNoneExtrinsicParameter, + kExtrinsicParameterFromLidar, + kExtrinsicParameterFromXml +} ExtrinsicParameterType; + +typedef struct { + uint8_t lidar_type {}; +} LidarSummaryInfo; + +/** 8bytes stamp to uint64_t stamp */ +typedef union { + struct { + uint32_t low; + uint32_t high; + } stamp_word; + + uint8_t stamp_bytes[8]; + int64_t stamp; +} LdsStamp; + +#pragma pack(1) + +typedef struct { + float x; /**< X axis, Unit:m */ + float y; /**< Y axis, Unit:m */ + float z; /**< Z axis, Unit:m */ + float reflectivity; /**< Reflectivity */ + uint8_t tag; /**< Livox point tag */ + uint8_t line; /**< Laser line id */ + double timestamp; /**< Timestamp of point*/ +} LivoxPointXyzrtlt; + +typedef struct { + float x; + float y; + float z; + float intensity; + uint8_t tag; + uint8_t line; + uint64_t offset_time; +} PointXyzlt; + +typedef struct { + uint32_t handle; + uint8_t lidar_type; ////refer to LivoxLidarType + uint32_t points_num; + PointXyzlt* points; +} PointPacket; + +typedef struct { + uint64_t base_time[kMaxSourceLidar] {}; + uint8_t lidar_num {}; + PointPacket lidar_point[kMaxSourceLidar] {}; +} PointFrame; + +#pragma pack() + +typedef struct { + LidarProtoType lidar_type; + uint32_t handle; + uint64_t base_time; + uint32_t points_num; + std::vector points; +} StoragePacket; + +typedef struct { + LidarProtoType lidar_type; + uint32_t handle; + bool extrinsic_enable; + uint32_t point_num; + uint8_t data_type; + uint8_t line_num; + uint64_t time_stamp; + uint64_t point_interval; + std::vector raw_data; +} RawPacket; + +typedef struct { + StoragePacket *storage_packet; + volatile uint32_t rd_idx; + volatile uint32_t wr_idx; + uint32_t mask; + uint32_t size; /**< must be power of 2. */ +} LidarDataQueue; + +/*****************************/ +/* About Extrinsic Parameter */ +typedef struct { + float roll; /**< Roll angle, unit: degree. */ + float pitch; /**< Pitch angle, unit: degree. */ + float yaw; /**< Yaw angle, unit: degree. */ + int32_t x; /**< X translation, unit: mm. */ + int32_t y; /**< Y translation, unit: mm. */ + int32_t z; /**< Z translation, unit: mm. */ +} ExtParameter; + +typedef float TranslationVector[3]; /**< x, y, z translation, unit: mm. */ +typedef float RotationMatrix[3][3]; + +typedef struct { + TranslationVector trans; + RotationMatrix rotation; +} ExtParameterDetailed; + +typedef struct { + LidarProtoType lidar_type; + uint32_t handle; + ExtParameter param; +} LidarExtParameter; + +/** Configuration in json config file for livox lidar */ +typedef struct { + char broadcast_code[16]; + bool enable_connect; + bool enable_fan; + uint32_t return_mode; + uint32_t coordinate; + uint32_t imu_rate; + uint32_t extrinsic_parameter_source; + bool enable_high_sensitivity; +} UserRawConfig; + +typedef struct { + bool enable_fan; + uint32_t return_mode; + uint32_t coordinate; /**< 0 for CartesianCoordinate; others for SphericalCoordinate. */ + uint32_t imu_rate; + uint32_t extrinsic_parameter_source; + bool enable_high_sensitivity; + volatile uint32_t set_bits; + volatile uint32_t get_bits; +} UserConfig; + +typedef struct { + uint32_t handle; + int8_t pcl_data_type; + int8_t pattern_mode; + int32_t blind_spot_set; + int8_t dual_emit_en; + ExtParameter extrinsic_param; + volatile uint32_t set_bits; + volatile uint32_t get_bits; +} UserLivoxLidarConfig; + +/** Lidar data source info abstract */ +typedef struct { + uint8_t lidar_type; + uint32_t handle; + // union { + // uint8_t slot : 4; //slot for LivoxLidarType::kVehicleLidarType + // uint8_t handle : 4; // handle for LivoxLidarType::kIndustryLidarType + // }; + uint8_t data_src; /**< From raw lidar or livox file. */ + volatile LidarConnectState connect_state; + // DeviceInfo info; + + LidarDataQueue data; + LidarImuDataQueue imu_data; + + uint32_t firmware_ver; /**< Firmware version of lidar */ + UserLivoxLidarConfig livox_config; +} LidarDevice; + +constexpr uint32_t kMaxProductType = 10; +constexpr uint32_t kDeviceTypeLidarMid70 = 6; + +/***********************************/ +/* Global function for general use */ +bool IsFilePathValid(const char *path_str); +uint32_t CalculatePacketQueueSize(const double publish_freq); +std::string IpNumToString(uint32_t ip_num); +uint32_t IpStringToNum(std::string ip_string); +std::string ReplacePeriodByUnderline(std::string str); + +} // namespace livox_ros + +#endif // LIVOX_ROS_DRIVER2_COMM_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/src/comm/ldq.cpp b/src/rm_driver/livox_ros_driver2/src/src/comm/ldq.cpp new file mode 100644 index 0000000..d70bcee --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/comm/ldq.cpp @@ -0,0 +1,150 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#include +#include + +#include "ldq.h" + +namespace livox_ros { + +/* for pointcloud queue process */ +bool InitQueue(LidarDataQueue *queue, uint32_t queue_size) { + if (queue == nullptr) { + // ROS_WARN("RosDriver Queue: Initialization failed - invalid queue."); + return false; + } + + if (!IsPowerOf2(queue_size)) { + queue_size = RoundupPowerOf2(queue_size); + printf("Init queue, real query size:%u.\n", queue_size); + } + + if (queue->storage_packet) { + delete[] queue->storage_packet; + queue->storage_packet = nullptr; + } + + queue->storage_packet = new StoragePacket[queue_size]; + if (queue->storage_packet == nullptr) { + // ROS_WARN("RosDriver Queue: Initialization failed - failed to allocate memory."); + return false; + } + + queue->rd_idx = 0; + queue->wr_idx = 0; + queue->size = queue_size; + queue->mask = queue_size - 1; + + return true; +} + +bool DeInitQueue(LidarDataQueue *queue) { + if (queue == nullptr) { + // ROS_WARN("RosDriver Queue: Deinitialization failed - invalid queue."); + return false; + } + + if (queue->storage_packet) { + delete[] queue->storage_packet; + } + + queue->rd_idx = 0; + queue->wr_idx = 0; + queue->size = 0; + queue->mask = 0; + + return true; +} + +void ResetQueue(LidarDataQueue *queue) { + queue->rd_idx = 0; + queue->wr_idx = 0; +} + +bool QueuePrePop(LidarDataQueue *queue, StoragePacket *storage_packet) { + if (queue == nullptr || storage_packet == nullptr) { + // ROS_WARN("RosDriver Queue: Invalid pointer parameters."); + return false; + } + + if (QueueIsEmpty(queue)) { + // ROS_WARN("RosDriver Queue: Pop failed, since the queue is empty."); + return false; + } + + uint32_t rd_idx = queue->rd_idx & queue->mask; + + storage_packet->base_time = queue->storage_packet[rd_idx].base_time; + storage_packet->points_num = queue->storage_packet[rd_idx].points_num; + storage_packet->points.resize(queue->storage_packet[rd_idx].points_num); + + memcpy(storage_packet->points.data(), queue->storage_packet[rd_idx].points.data(), (storage_packet->points_num) * sizeof(PointXyzlt)); + return true; +} + +void QueuePopUpdate(LidarDataQueue *queue) { + queue->rd_idx++; +} + +bool QueuePop(LidarDataQueue *queue, StoragePacket *storage_packet) { + if (!QueuePrePop(queue, storage_packet)) { + return false; + } + QueuePopUpdate(queue); + + return true; +} + +uint32_t QueueUsedSize(LidarDataQueue *queue) { + return queue->wr_idx - queue->rd_idx; +} + +uint32_t QueueUnusedSize(LidarDataQueue *queue) { + return (queue->size - QueueUsedSize(queue)); +} + +bool QueueIsFull(LidarDataQueue *queue) { + return ((queue->wr_idx - queue->rd_idx) > queue->mask); +} + +bool QueueIsEmpty(LidarDataQueue *queue) { + return (queue->rd_idx == queue->wr_idx); +} + +uint32_t QueuePushAny(LidarDataQueue *queue, uint8_t *data, const uint64_t base_time) { + uint32_t wr_idx = queue->wr_idx & queue->mask; + PointPacket* lidar_point_data = reinterpret_cast(data); + queue->storage_packet[wr_idx].base_time = base_time; + queue->storage_packet[wr_idx].points_num = lidar_point_data->points_num; + + queue->storage_packet[wr_idx].points.clear(); + queue->storage_packet[wr_idx].points.resize(lidar_point_data->points_num); + memcpy(queue->storage_packet[wr_idx].points.data(), lidar_point_data->points, sizeof(PointXyzlt) * (lidar_point_data->points_num)); + + queue->wr_idx++; + return 1; +} + +} // namespace livox_ros diff --git a/src/rm_driver/livox_ros_driver2/src/src/comm/ldq.h b/src/rm_driver/livox_ros_driver2/src/src/comm/ldq.h new file mode 100644 index 0000000..9830a31 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/comm/ldq.h @@ -0,0 +1,66 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#ifndef LIVOX_ROS_DRIVER_LDQ_H_ +#define LIVOX_ROS_DRIVER_LDQ_H_ + +#include +#include + +#include "comm/comm.h" + +namespace livox_ros { + +inline static bool IsPowerOf2(uint32_t size) { + return (size != 0) && ((size & (size - 1)) == 0); +} + +inline static uint32_t RoundupPowerOf2(uint32_t size) { + uint32_t power2_val = 0; + for (int i = 0; i < 32; i++) { + power2_val = ((uint32_t)1) << i; + if (size <= power2_val) { + break; + } + } + + return power2_val; +} + +/** queue operate function */ +bool InitQueue(LidarDataQueue *queue, uint32_t queue_size); +bool DeInitQueue(LidarDataQueue *queue); +void ResetQueue(LidarDataQueue *queue); +bool QueuePrePop(LidarDataQueue *queue, StoragePacket *storage_packet); +void QueuePopUpdate(LidarDataQueue *queue); +bool QueuePop(LidarDataQueue *queue, StoragePacket *storage_packet); +uint32_t QueueUsedSize(LidarDataQueue *queue); +uint32_t QueueUnusedSize(LidarDataQueue *queue); +bool QueueIsFull(LidarDataQueue *queue); +bool QueueIsEmpty(LidarDataQueue *queue); +uint32_t QueuePushAny(LidarDataQueue *queue, uint8_t *data, const uint64_t base_time); + +} // namespace livox_ros + +#endif // LIVOX_ROS_DRIVER_LDQ_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/src/comm/lidar_imu_data_queue.cpp b/src/rm_driver/livox_ros_driver2/src/src/comm/lidar_imu_data_queue.cpp new file mode 100644 index 0000000..43de94b --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/comm/lidar_imu_data_queue.cpp @@ -0,0 +1,70 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#include "lidar_imu_data_queue.h" + +namespace livox_ros { + +void LidarImuDataQueue::Push(ImuData* imu_data) { + ImuData data; + data.lidar_type = imu_data->lidar_type; + data.handle = imu_data->handle; + data.time_stamp = imu_data->time_stamp; + + data.gyro_x = imu_data->gyro_x; + data.gyro_y = imu_data->gyro_y; + data.gyro_z = imu_data->gyro_z; + + data.acc_x = imu_data->acc_x; + data.acc_y = imu_data->acc_y; + data.acc_z = imu_data->acc_z; + + std::lock_guard lock(mutex_); + imu_data_queue_.push_back(std::move(data)); +} + +bool LidarImuDataQueue::Pop(ImuData& imu_data) { + std::lock_guard lock(mutex_); + if (imu_data_queue_.empty()) { + return false; + } + imu_data = imu_data_queue_.front(); + imu_data_queue_.pop_front(); + return true; +} + +bool LidarImuDataQueue::Empty() { + std::lock_guard lock(mutex_); + return imu_data_queue_.empty(); +} + +void LidarImuDataQueue::Clear() { + std::list tmp_imu_data_queue; + { + std::lock_guard lock(mutex_); + imu_data_queue_.swap(tmp_imu_data_queue); + } +} + +} // namespace livox_ros \ No newline at end of file diff --git a/src/rm_driver/livox_ros_driver2/src/src/comm/lidar_imu_data_queue.h b/src/rm_driver/livox_ros_driver2/src/src/comm/lidar_imu_data_queue.h new file mode 100644 index 0000000..83091f3 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/comm/lidar_imu_data_queue.h @@ -0,0 +1,77 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#ifndef LIVOX_ROS_DRIVER_LIDAR_IMU_DATA_QUEUE_H_ +#define LIVOX_ROS_DRIVER_LIDAR_IMU_DATA_QUEUE_H_ + +#include +#include +#include + +namespace livox_ros { + +// Based on the IMU Data Type in Livox communication protocol +// TODO: add a link to the protocol +typedef struct { + float gyro_x; /**< Gyroscope X axis, Unit:rad/s */ + float gyro_y; /**< Gyroscope Y axis, Unit:rad/s */ + float gyro_z; /**< Gyroscope Z axis, Unit:rad/s */ + float acc_x; /**< Accelerometer X axis, Unit:g */ + float acc_y; /**< Accelerometer Y axis, Unit:g */ + float acc_z; /**< Accelerometer Z axis, Unit:g */ +} RawImuPoint; + +typedef struct { + uint8_t lidar_type; + uint32_t handle; + uint8_t slot; + // union { + // uint8_t handle; + // uint8_t slot; + // }; + uint64_t time_stamp; + float gyro_x; /**< Gyroscope X axis, Unit:rad/s */ + float gyro_y; /**< Gyroscope Y axis, Unit:rad/s */ + float gyro_z; /**< Gyroscope Z axis, Unit:rad/s */ + float acc_x; /**< Accelerometer X axis, Unit:g */ + float acc_y; /**< Accelerometer Y axis, Unit:g */ + float acc_z; /**< Accelerometer Z axis, Unit:g */ +} ImuData; + +class LidarImuDataQueue { + public: + void Push(ImuData* imu_data); + bool Pop(ImuData& imu_data); + bool Empty(); + void Clear(); + + private: + std::mutex mutex_; + std::list imu_data_queue_; +}; + +} // namespace + +#endif // LIVOX_ROS_DRIVER_LIDAR_IMU_DATA_QUEUE_H_ + diff --git a/src/rm_driver/livox_ros_driver2/src/src/comm/pub_handler.cpp b/src/rm_driver/livox_ros_driver2/src/src/comm/pub_handler.cpp new file mode 100644 index 0000000..edf99cc --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/comm/pub_handler.cpp @@ -0,0 +1,531 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#include "pub_handler.h" + +#include +#include +#include +#include + +namespace livox_ros { + +std::atomic PubHandler::is_timestamp_sync_; + +PubHandler &pub_handler() { + static PubHandler handler; + return handler; +} + +static ExtParameterDetailed extrinsic_global = { + {0, 0, 0}, + { + {1, 0, 0}, + {0, 1, 0}, + {0, 0, 1} + } +}; + +void PubHandler::Init() {} + +void PubHandler::Uninit() { + if (lidar_listen_id_ > 0) { + LivoxLidarRemovePointCloudObserver(lidar_listen_id_); + lidar_listen_id_ = 0; + } + + RequestExit(); + + if (point_process_thread_ && point_process_thread_->joinable()) { + point_process_thread_->join(); + point_process_thread_ = nullptr; + } else { + /* */ + } +} + +void PubHandler::RequestExit() { is_quit_.store(true); } + +void PubHandler::SetPointCloudConfig(const double publish_freq) { + publish_interval_ = (kNsPerSecond / (publish_freq * 10)) * 10; + publish_interval_tolerance_ = + publish_interval_ - kNsTolerantFrameTimeDeviation; + publish_interval_ms_ = publish_interval_ / kRatioOfMsToNs; + if (!point_process_thread_) { + point_process_thread_ = + std::make_shared(&PubHandler::RawDataProcess, this); + } + return; +} + +void PubHandler::SetImuDataCallback(ImuDataCallback cb, void *client_data) { + imu_client_data_ = client_data; + imu_callback_ = cb; +} + +void PubHandler::AddLidarsExtParam(LidarExtParameter &lidar_param) { + std::unique_lock lock(packet_mutex_); + uint32_t id = 0; + GetLidarId(lidar_param.lidar_type, lidar_param.handle, id); + lidar_extrinsics_[id] = lidar_param; +} + +void PubHandler::ClearAllLidarsExtrinsicParams() { + std::unique_lock lock(packet_mutex_); + lidar_extrinsics_.clear(); +} + +void PubHandler::SetPointCloudsCallback(PointCloudsCallback cb, + void *client_data) { + pub_client_data_ = client_data; + points_callback_ = cb; + lidar_listen_id_ = + LivoxLidarAddPointCloudObserver(OnLivoxLidarPointCloudCallback, this); +} + +void PubHandler::OnLivoxLidarPointCloudCallback(uint32_t handle, + const uint8_t dev_type, + LivoxLidarEthernetPacket *data, + void *client_data) { + PubHandler *self = (PubHandler *)client_data; + if (!self) { + return; + } + + if (data->time_type != kTimestampTypeNoSync) { + is_timestamp_sync_.store(true); + } else { + is_timestamp_sync_.store(false); + } + + if (data->data_type == kLivoxLidarImuData) { + if (self->imu_callback_) { + RawImuPoint *imu = (RawImuPoint *)data->data; + ImuData imu_data; + imu_data.lidar_type = + static_cast(LidarProtoType::kLivoxLidarType); + imu_data.handle = handle; + imu_data.time_stamp = GetEthPacketTimestamp( + data->time_type, data->timestamp, sizeof(data->timestamp)); + imu_data.gyro_x = imu->gyro_x * extrinsic_global.rotation[0][0] + + imu->gyro_y * extrinsic_global.rotation[0][1] + + imu->gyro_z * extrinsic_global.rotation[0][2]; + // * this->extrinsic_.rotation[0][0] + imu->gyro_x * + // extrinsic_.rotation[0][1] + imu->gyro_x * extrinsic_.rotation[0][2]; + imu_data.gyro_y = imu->gyro_x * extrinsic_global.rotation[1][0] + + imu->gyro_y * extrinsic_global.rotation[1][1] + + imu->gyro_z * extrinsic_global.rotation[1][2]; + imu_data.gyro_z = imu->gyro_x * extrinsic_global.rotation[2][0] + + imu->gyro_y * extrinsic_global.rotation[2][1] + + imu->gyro_z * extrinsic_global.rotation[2][2]; + imu_data.acc_x = imu->acc_x * extrinsic_global.rotation[0][0] + + imu->acc_y * extrinsic_global.rotation[0][1] + + imu->acc_z * extrinsic_global.rotation[0][2]; + imu_data.acc_y = imu->acc_x * extrinsic_global.rotation[1][0] + + imu->acc_y * extrinsic_global.rotation[1][1] + + imu->acc_z * extrinsic_global.rotation[1][2]; + imu_data.acc_z = imu->acc_x * extrinsic_global.rotation[2][0] + + imu->acc_y * extrinsic_global.rotation[2][1] + + imu->acc_z * extrinsic_global.rotation[2][2]; + self->imu_callback_(&imu_data, self->imu_client_data_); + } + return; + } + RawPacket packet = {}; + packet.handle = handle; + packet.lidar_type = LidarProtoType::kLivoxLidarType; + packet.extrinsic_enable = false; + if (dev_type == LivoxLidarDeviceType::kLivoxLidarTypeIndustrialHAP) { + packet.line_num = kLineNumberHAP; + } else if (dev_type == LivoxLidarDeviceType::kLivoxLidarTypeMid360) { + packet.line_num = kLineNumberMid360; + } else { + packet.line_num = kLineNumberDefault; + } + packet.data_type = data->data_type; + packet.point_num = data->dot_num; + packet.point_interval = data->time_interval * 100 / data->dot_num; // ns + packet.time_stamp = GetEthPacketTimestamp(data->time_type, data->timestamp, + sizeof(data->timestamp)); + uint32_t length = data->length - sizeof(LivoxLidarEthernetPacket) + 1; + packet.raw_data.insert(packet.raw_data.end(), data->data, + data->data + length); + { + std::unique_lock lock(self->packet_mutex_); + self->raw_packet_queue_.push_back(packet); + } + self->packet_condition_.notify_one(); + + return; +} + +void PubHandler::PublishPointCloud() { + // publish point + if (points_callback_) { + points_callback_(&frame_, pub_client_data_); + } + return; +} + +void PubHandler::CheckTimer(uint32_t id) { + + if (PubHandler::is_timestamp_sync_.load()) { // Enable time synchronization + auto &process_handler = lidar_process_handlers_[id]; + uint64_t recent_time_ms = + process_handler->GetRecentTimeStamp() / kRatioOfMsToNs; + if ((recent_time_ms % publish_interval_ms_ != 0) || recent_time_ms == 0) { + return; + } + + uint64_t diff = process_handler->GetRecentTimeStamp() - + process_handler->GetLidarBaseTime(); + if (diff < publish_interval_tolerance_) { + return; + } + + frame_.base_time[frame_.lidar_num] = process_handler->GetLidarBaseTime(); + points_[id].clear(); + process_handler->GetLidarPointClouds(points_[id]); + if (points_[id].empty()) { + return; + } + PointPacket &lidar_point = frame_.lidar_point[frame_.lidar_num]; + lidar_point.lidar_type = LidarProtoType::kLivoxLidarType; // TODO: + lidar_point.handle = id; + lidar_point.points_num = points_[id].size(); + lidar_point.points = points_[id].data(); + frame_.lidar_num++; + + if (frame_.lidar_num != 0) { + PublishPointCloud(); + frame_.lidar_num = 0; + } + } else { // Disable time synchronization + auto now_time = std::chrono::high_resolution_clock::now(); + // First Set + static bool first = true; + if (first) { + last_pub_time_ = now_time; + first = false; + return; + } + if (now_time - last_pub_time_ < + std::chrono::nanoseconds(publish_interval_)) { + return; + } + last_pub_time_ += std::chrono::nanoseconds(publish_interval_); + for (auto &process_handler : lidar_process_handlers_) { + frame_.base_time[frame_.lidar_num] = + process_handler.second->GetLidarBaseTime(); + uint32_t handle = process_handler.first; + points_[handle].clear(); + process_handler.second->GetLidarPointClouds(points_[handle]); + if (points_[handle].empty()) { + continue; + } + PointPacket &lidar_point = frame_.lidar_point[frame_.lidar_num]; + lidar_point.lidar_type = LidarProtoType::kLivoxLidarType; // TODO: + lidar_point.handle = handle; + lidar_point.points_num = points_[handle].size(); + lidar_point.points = points_[handle].data(); + frame_.lidar_num++; + } + PublishPointCloud(); + frame_.lidar_num = 0; + } + return; +} + +void PubHandler::RawDataProcess() { + RawPacket raw_data; + while (!is_quit_.load()) { + { + std::unique_lock lock(packet_mutex_); + if (raw_packet_queue_.empty()) { + packet_condition_.wait_for(lock, std::chrono::milliseconds(500)); + if (raw_packet_queue_.empty()) { + continue; + } + } + raw_data = raw_packet_queue_.front(); + raw_packet_queue_.pop_front(); + if (raw_packet_queue_.size() < 3) { // reduce CPU usage + std::this_thread::sleep_for(std::chrono::microseconds(50)); + } + } + uint32_t id = 0; + GetLidarId(raw_data.lidar_type, raw_data.handle, id); + if (lidar_process_handlers_.find(id) == lidar_process_handlers_.end()) { + lidar_process_handlers_[id].reset(new LidarPubHandler()); + } + auto &process_handler = lidar_process_handlers_[id]; + if (lidar_extrinsics_.find(id) != lidar_extrinsics_.end()) { + lidar_process_handlers_[id]->SetLidarsExtParam(lidar_extrinsics_[id]); + } + process_handler->PointCloudProcess(raw_data); + CheckTimer(id); + } +} + +bool PubHandler::GetLidarId(LidarProtoType lidar_type, uint32_t handle, + uint32_t &id) { + if (lidar_type == kLivoxLidarType) { + id = handle; + return true; + } + return false; +} + +uint64_t PubHandler::GetEthPacketTimestamp(uint8_t timestamp_type, + uint8_t *time_stamp, uint8_t size) { + LdsStamp time; + memcpy(time.stamp_bytes, time_stamp, size); + + if (timestamp_type == kTimestampTypeGptpOrPtp || + timestamp_type == kTimestampTypeGps) { + return time.stamp; + } + + return std::chrono::high_resolution_clock::now().time_since_epoch().count(); +} + +/*******************************/ +/* LidarPubHandler Definitions*/ +LidarPubHandler::LidarPubHandler() : is_set_extrinsic_params_(false) {} + +uint64_t LidarPubHandler::GetLidarBaseTime() { + if (points_clouds_.empty()) { + return 0; + } + return points_clouds_.at(0).offset_time; +} + +void LidarPubHandler::GetLidarPointClouds( + std::vector &points_clouds) { + std::lock_guard lock(mutex_); + points_clouds.swap(points_clouds_); +} + +uint64_t LidarPubHandler::GetRecentTimeStamp() { + if (points_clouds_.empty()) { + return 0; + } + return points_clouds_.back().offset_time; +} + +uint32_t LidarPubHandler::GetLidarPointCloudsSize() { + std::lock_guard lock(mutex_); + return points_clouds_.size(); +} + +// convert to standard format and extrinsic compensate +void LidarPubHandler::PointCloudProcess(RawPacket &pkt) { + if (pkt.lidar_type == LidarProtoType::kLivoxLidarType) { + LivoxLidarPointCloudProcess(pkt); + } else { + static bool flag = false; + if (!flag) { + std::cout << "error, unsupported protocol type: " + << static_cast(pkt.lidar_type) << std::endl; + flag = true; + } + } +} + +void LidarPubHandler::LivoxLidarPointCloudProcess(RawPacket &pkt) { + switch (pkt.data_type) { + case kLivoxLidarCartesianCoordinateHighData: + ProcessCartesianHighPoint(pkt); + break; + case kLivoxLidarCartesianCoordinateLowData: + ProcessCartesianLowPoint(pkt); + break; + case kLivoxLidarSphericalCoordinateData: + ProcessSphericalPoint(pkt); + break; + default: + std::cout << "unknown data type: " << static_cast(pkt.data_type) + << " !!" << std::endl; + break; + } +} + +void LidarPubHandler::SetLidarsExtParam(LidarExtParameter lidar_param) { + if (is_set_extrinsic_params_) { + return; + } + extrinsic_.trans[0] = lidar_param.param.x; + extrinsic_.trans[1] = lidar_param.param.y; + extrinsic_.trans[2] = lidar_param.param.z; + + double cos_roll = + cos(static_cast(lidar_param.param.roll * PI / 180.0)); + double cos_pitch = + cos(static_cast(lidar_param.param.pitch * PI / 180.0)); + double cos_yaw = cos(static_cast(lidar_param.param.yaw * PI / 180.0)); + double sin_roll = + sin(static_cast(lidar_param.param.roll * PI / 180.0)); + double sin_pitch = + sin(static_cast(lidar_param.param.pitch * PI / 180.0)); + double sin_yaw = sin(static_cast(lidar_param.param.yaw * PI / 180.0)); + + std::cout<<"extrinsic rpy"<<" "< lock(mutex_); + points_clouds_.push_back(point); + } +} + +void LidarPubHandler::ProcessCartesianLowPoint(RawPacket &pkt) { + LivoxLidarCartesianLowRawPoint *raw = + (LivoxLidarCartesianLowRawPoint *)pkt.raw_data.data(); + PointXyzlt point = {}; + for (uint32_t i = 0; i < pkt.point_num; i++) { + if (pkt.extrinsic_enable) { + point.x = raw[i].x / 100.0; + point.y = raw[i].y / 100.0; + point.z = raw[i].z / 100.0; + } else { + point.x = (raw[i].x * extrinsic_.rotation[0][0] + + raw[i].y * extrinsic_.rotation[0][1] + + raw[i].z * extrinsic_.rotation[0][2] + extrinsic_.trans[0]) / + 100.0; + point.y = (raw[i].x * extrinsic_.rotation[1][0] + + raw[i].y * extrinsic_.rotation[1][1] + + raw[i].z * extrinsic_.rotation[1][2] + extrinsic_.trans[1]) / + 100.0; + point.z = (raw[i].x * extrinsic_.rotation[2][0] + + raw[i].y * extrinsic_.rotation[2][1] + + raw[i].z * extrinsic_.rotation[2][2] + extrinsic_.trans[2]) / + 100.0; + } + point.intensity = raw[i].reflectivity; + point.line = i % pkt.line_num; + point.tag = raw[i].tag; + point.offset_time = pkt.time_stamp + i * pkt.point_interval; + std::lock_guard lock(mutex_); + points_clouds_.push_back(point); + } +} + +void LidarPubHandler::ProcessSphericalPoint(RawPacket &pkt) { + LivoxLidarSpherPoint *raw = (LivoxLidarSpherPoint *)pkt.raw_data.data(); + PointXyzlt point = {}; + for (uint32_t i = 0; i < pkt.point_num; i++) { + double radius = raw[i].depth / 1000.0; + double theta = raw[i].theta / 100.0 / 180 * PI; + double phi = raw[i].phi / 100.0 / 180 * PI; + double src_x = radius * sin(theta) * cos(phi); + double src_y = radius * sin(theta) * sin(phi); + double src_z = radius * cos(theta); + if (pkt.extrinsic_enable) { + point.x = src_x; + point.y = src_y; + point.z = src_z; + } else { + point.x = src_x * extrinsic_.rotation[0][0] + + src_y * extrinsic_.rotation[0][1] + + src_z * extrinsic_.rotation[0][2] + + (extrinsic_.trans[0] / 1000.0); + point.y = src_x * extrinsic_.rotation[1][0] + + src_y * extrinsic_.rotation[1][1] + + src_z * extrinsic_.rotation[1][2] + + (extrinsic_.trans[1] / 1000.0); + point.z = src_x * extrinsic_.rotation[2][0] + + src_y * extrinsic_.rotation[2][1] + + src_z * extrinsic_.rotation[2][2] + + (extrinsic_.trans[2] / 1000.0); + } + + point.intensity = raw[i].reflectivity; + point.line = i % pkt.line_num; + point.tag = raw[i].tag; + point.offset_time = pkt.time_stamp + i * pkt.point_interval; + std::lock_guard lock(mutex_); + points_clouds_.push_back(point); + } +} + +} // namespace livox_ros diff --git a/src/rm_driver/livox_ros_driver2/src/src/comm/pub_handler.h b/src/rm_driver/livox_ros_driver2/src/src/comm/pub_handler.h new file mode 100644 index 0000000..2beab4d --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/comm/pub_handler.h @@ -0,0 +1,138 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#ifndef LIVOX_DRIVER_PUB_HANDLER_H_ +#define LIVOX_DRIVER_PUB_HANDLER_H_ + +#include +#include +#include // std::condition_variable +#include +#include +#include +#include +#include // std::mutex +#include + +#include "livox_lidar_def.h" +#include "livox_lidar_api.h" +#include "comm/comm.h" + +namespace livox_ros { + +class LidarPubHandler { + public: + LidarPubHandler(); + ~ LidarPubHandler() {} + + void PointCloudProcess(RawPacket& pkt); + void SetLidarsExtParam(LidarExtParameter param); + void GetLidarPointClouds(std::vector& points_clouds); + + uint64_t GetRecentTimeStamp(); + uint32_t GetLidarPointCloudsSize(); + uint64_t GetLidarBaseTime(); + + private: + void LivoxLidarPointCloudProcess(RawPacket & pkt); + void ProcessCartesianHighPoint(RawPacket & pkt); + void ProcessCartesianLowPoint(RawPacket & pkt); + void ProcessSphericalPoint(RawPacket & pkt); + std::vector points_clouds_; + ExtParameterDetailed extrinsic_ = { + {0, 0, 0}, + { + {1, 0, 0}, + {0, 1, 0}, + {0, 0, 1} + } + }; + std::mutex mutex_; + std::atomic_bool is_set_extrinsic_params_; +}; + +class PubHandler { + public: + using PointCloudsCallback = std::function; + using ImuDataCallback = std::function; + using TimePoint = std::chrono::high_resolution_clock::time_point; + + PubHandler() {} + + ~ PubHandler() { Uninit(); } + + void Uninit(); + void RequestExit(); + void Init(); + void SetPointCloudConfig(const double publish_freq); + void SetPointCloudsCallback(PointCloudsCallback cb, void* client_data); + void AddLidarsExtParam(LidarExtParameter& extrinsic_params); + void ClearAllLidarsExtrinsicParams(); + void SetImuDataCallback(ImuDataCallback cb, void* client_data); + + private: + //thread to process raw data + void RawDataProcess(); + std::atomic is_quit_{false}; + std::shared_ptr point_process_thread_; + std::mutex packet_mutex_; + std::condition_variable packet_condition_; + + //publish callback + void CheckTimer(uint32_t id); + void PublishPointCloud(); + static void OnLivoxLidarPointCloudCallback(uint32_t handle, const uint8_t dev_type, + LivoxLidarEthernetPacket *data, void *client_data); + + static bool GetLidarId(LidarProtoType lidar_type, uint32_t handle, uint32_t& id); + static uint64_t GetEthPacketTimestamp(uint8_t timestamp_type, uint8_t* time_stamp, uint8_t size); + + PointCloudsCallback points_callback_; + void* pub_client_data_ = nullptr; + + ImuDataCallback imu_callback_; + void* imu_client_data_ = nullptr; + + PointFrame frame_; + + std::deque raw_packet_queue_; + + //pub config + uint64_t publish_interval_ = 100000000; //100 ms + uint64_t publish_interval_tolerance_ = 100000000; //100 ms + uint64_t publish_interval_ms_ = 100; //100 ms + TimePoint last_pub_time_; + + std::map> lidar_process_handlers_; + std::map> points_; + std::map lidar_extrinsics_; + static std::atomic is_timestamp_sync_; + uint16_t lidar_listen_id_ = 0; +}; + +PubHandler &pub_handler(); + +} // namespace livox_ros + +#endif // LIVOX_DRIVER_PUB_HANDLER_H_ \ No newline at end of file diff --git a/src/rm_driver/livox_ros_driver2/src/src/comm/semaphore.cpp b/src/rm_driver/livox_ros_driver2/src/src/comm/semaphore.cpp new file mode 100644 index 0000000..941815a --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/comm/semaphore.cpp @@ -0,0 +1,41 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#include "semaphore.h" + +namespace livox_ros { + +void Semaphore::Signal() { + std::unique_lock lock(mutex_); + ++count_; + cv_.notify_one(); +} + +void Semaphore::Wait() { + std::unique_lock lock(mutex_); + cv_.wait(lock, [=] { return count_ > 0; }); + --count_; +} + +} // namespace livox_ros diff --git a/src/rm_driver/livox_ros_driver2/src/src/comm/semaphore.h b/src/rm_driver/livox_ros_driver2/src/src/comm/semaphore.h new file mode 100644 index 0000000..b8085cd --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/comm/semaphore.h @@ -0,0 +1,51 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#ifndef LIVOX_ROS_DRIVER_SEMAPHORE_H_ +#define LIVOX_ROS_DRIVER_SEMAPHORE_H_ + +#include +#include + +namespace livox_ros { + +class Semaphore { + public: + explicit Semaphore(int count = 0) : count_(count) { + } + void Signal(); + void Wait(); + int GetCount() { + return count_; + } + + private: + std::mutex mutex_; + std::condition_variable cv_; + volatile int count_; +}; + +} // namespace livox_ros + +#endif // LIVOX_ROS_DRIVER_SEMAPHORE_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/src/driver_node.cpp b/src/rm_driver/livox_ros_driver2/src/src/driver_node.cpp new file mode 100644 index 0000000..24f0aba --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/driver_node.cpp @@ -0,0 +1,46 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#include "driver_node.h" +#include "lddc.h" + +namespace livox_ros { + +DriverNode& DriverNode::GetNode() noexcept { + return *this; +} + +DriverNode::~DriverNode() { + lddc_ptr_->lds_->RequestExit(); + exit_signal_.set_value(); + pointclouddata_poll_thread_->join(); + imudata_poll_thread_->join(); +} + +} // namespace livox_ros + + + + + diff --git a/src/rm_driver/livox_ros_driver2/src/src/driver_node.h b/src/rm_driver/livox_ros_driver2/src/src/driver_node.h new file mode 100644 index 0000000..610f308 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/driver_node.h @@ -0,0 +1,56 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#ifndef LIVOX_DRIVER_NODE_H +#define LIVOX_DRIVER_NODE_H + +#include "include/ros_headers.h" + +namespace livox_ros { + +class Lddc; + +class DriverNode final : public rclcpp::Node { + public: + explicit DriverNode(const rclcpp::NodeOptions& options); + DriverNode(const DriverNode &) = delete; + ~DriverNode(); + DriverNode &operator=(const DriverNode &) = delete; + + DriverNode& GetNode() noexcept; + + private: + void PointCloudDataPollThread(); + void ImuDataPollThread(); + + std::unique_ptr lddc_ptr_; + std::shared_ptr pointclouddata_poll_thread_; + std::shared_ptr imudata_poll_thread_; + std::shared_future future_; + std::promise exit_signal_; +}; + +} // namespace livox_ros + +#endif // LIVOX_DRIVER_NODE_H \ No newline at end of file diff --git a/src/rm_driver/livox_ros_driver2/src/src/include/livox_ros_driver2.h b/src/rm_driver/livox_ros_driver2/src/src/include/livox_ros_driver2.h new file mode 100644 index 0000000..9b6a6c0 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/include/livox_ros_driver2.h @@ -0,0 +1,40 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#ifndef LIVOX_ROS_DRIVER2_INClUDE_H_ +#define LIVOX_ROS_DRIVER2_INClUDE_H_ + +#define LIVOX_ROS_DRIVER2_VER_MAJOR 1 +#define LIVOX_ROS_DRIVER2_VER_MINOR 0 +#define LIVOX_ROS_DRIVER2_VER_PATCH 0 + +#define GET_STRING(n) GET_STRING_DIRECT(n) +#define GET_STRING_DIRECT(n) #n + +#define LIVOX_ROS_DRIVER2_VERSION_STRING \ + GET_STRING(LIVOX_ROS_DRIVER2_VER_MAJOR) \ + "." GET_STRING(LIVOX_ROS_DRIVER2_VER_MINOR) "." GET_STRING( \ + LIVOX_ROS_DRIVER2_VER_PATCH) + +#endif // LIVOX_ROS_DRIVER2_INClUDE_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/src/include/ros2_headers.h b/src/rm_driver/livox_ros_driver2/src/src/include/ros2_headers.h new file mode 100644 index 0000000..1d11236 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/include/ros2_headers.h @@ -0,0 +1,52 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +// Denoting headers specifically used for building ROS1 Driver. + +#ifndef ROS2_HEADERS_H_ +#define ROS2_HEADERS_H_ + +#include +#include + +#include +#include +#include +#include +#include "livox_ros_driver2/msg/custom_point.hpp" +#include "livox_ros_driver2/msg/custom_msg.hpp" + +#define DRIVER_DEBUG(node, ...) RCLCPP_DEBUG((node).get_logger(), __VA_ARGS__) +#define DRIVER_INFO(node, ...) RCLCPP_INFO((node).get_logger(), __VA_ARGS__) +#define DRIVER_WARN(node, ...) RCLCPP_WARN((node).get_logger(), __VA_ARGS__) +#define DRIVER_ERROR(node, ...) RCLCPP_ERROR((node).get_logger(), __VA_ARGS__) +#define DRIVER_FATAL(node, ...) RCLCPP_FATAL((node).get_logger(), __VA_ARGS__) + +#define DRIVER_DEBUG_EXTRA(node, EXTRA, ...) RCLCPP_DEBUG_##EXTRA((node).get_logger(), __VA_ARGS__) +#define DRIVER_INFO_EXTRA(node, EXTRA, ...) RCLCPP_INFO_##EXTRA((node).get_logger(), __VA_ARGS__) +#define DRIVER_WARN_EXTRA(node, EXTRA, ...) RCLCPP_WARN_##EXTRA((node).get_logger(), __VA_ARGS__) +#define DRIVER_ERROR_EXTRA(node, EXTRA, ...) RCLCPP_ERROR_##EXTRA((node).get_logger(), __VA_ARGS__) +#define DRIVER_FATAL_EXTRA(node, EXTRA, ...) RCLCPP_FATAL_##EXTRA((node).get_logger(), __VA_ARGS__) + +#endif // ROS2_HEADERS_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/src/include/ros_headers.h b/src/rm_driver/livox_ros_driver2/src/src/include/ros_headers.h new file mode 100644 index 0000000..7626065 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/include/ros_headers.h @@ -0,0 +1,30 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#ifndef ROS_HEADERS_H_ +#define ROS_HEADERS_H_ + +#include "ros2_headers.h" + +#endif // ROS_HEADERS_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/src/lddc.cpp b/src/rm_driver/livox_ros_driver2/src/src/lddc.cpp new file mode 100644 index 0000000..7817743 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/lddc.cpp @@ -0,0 +1,551 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#include "lddc.h" +#include "comm/comm.h" +#include "comm/ldq.h" + +#include +#include +#include +#include +#include +#include + +#include "include/ros_headers.h" + +#include "driver_node.h" +#include "lds_lidar.h" + +namespace livox_ros { + +/** Lidar Data Distribute Control--------------------------------------------*/ +Lddc::Lddc(int format, int multi_topic, int data_src, int output_type, + double frq, std::string &frame_id) + : transfer_format_(format), use_multi_topic_(multi_topic), + data_src_(data_src), output_type_(output_type), publish_frq_(frq), + frame_id_(frame_id) { + publish_period_ns_ = kNsPerSecond / publish_frq_; + lds_ = nullptr; +} + +Lddc::~Lddc() { + + PrepareExit(); + + std::cout << "lddc destory!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!" + << std::endl; +} + +int Lddc::RegisterLds(Lds *lds) { + if (lds_ == nullptr) { + lds_ = lds; + return 0; + } else { + return -1; + } +} + +void Lddc::DistributePointCloudData(void) { + if (!lds_) { + std::cout << "lds is not registered" << std::endl; + return; + } + if (lds_->IsRequestExit()) { + std::cout << "DistributePointCloudData is RequestExit" << std::endl; + return; + } + + lds_->pcd_semaphore_.Wait(); + for (uint32_t i = 0; i < lds_->lidar_count_; i++) { + uint32_t lidar_id = i; + LidarDevice *lidar = &lds_->lidars_[lidar_id]; + LidarDataQueue *p_queue = &lidar->data; + if ((kConnectStateSampling != lidar->connect_state) || + (p_queue == nullptr)) { + continue; + } + PollingLidarPointCloudData(lidar_id, lidar); + } +} + +void Lddc::DistributeImuData(void) { + if (!lds_) { + std::cout << "lds is not registered" << std::endl; + return; + } + if (lds_->IsRequestExit()) { + std::cout << "DistributeImuData is RequestExit" << std::endl; + return; + } + + lds_->imu_semaphore_.Wait(); + for (uint32_t i = 0; i < lds_->lidar_count_; i++) { + uint32_t lidar_id = i; + LidarDevice *lidar = &lds_->lidars_[lidar_id]; + LidarImuDataQueue *p_queue = &lidar->imu_data; + if ((kConnectStateSampling != lidar->connect_state) || + (p_queue == nullptr)) { + continue; + } + PollingLidarImuData(lidar_id, lidar); + } +} + +void Lddc::PollingLidarPointCloudData(uint8_t index, LidarDevice *lidar) { + LidarDataQueue *p_queue = &lidar->data; + if (p_queue == nullptr || p_queue->storage_packet == nullptr) { + return; + } + + while (!lds_->IsRequestExit() && !QueueIsEmpty(p_queue)) { + if (kPointCloud2Msg == transfer_format_) { + PublishPointcloud2(p_queue, index); + } else if (kLivoxCustomMsg == transfer_format_) { + // PublishPointcloud2AndCustomMsg(p_queue, index); + PublishCustomPointcloud(p_queue, index); + } else if (kPclPxyziMsg == transfer_format_) { + PublishPclMsg(p_queue, index); + } else if (kAllMsg == transfer_format_) { + PublishPointcloud2AndCustomMsg(p_queue, index); + } + } +} + +void Lddc::PollingLidarImuData(uint8_t index, LidarDevice *lidar) { + LidarImuDataQueue &p_queue = lidar->imu_data; + while (!lds_->IsRequestExit() && !p_queue.Empty()) { + PublishImuData(p_queue, index); + } +} + +void Lddc::PrepareExit(void) { + if (lds_) { + lds_->PrepareExit(); + lds_ = nullptr; + } +} + +void Lddc::PublishPointcloud2(LidarDataQueue *queue, uint8_t index) { + while (!QueueIsEmpty(queue)) { + StoragePacket pkg; + QueuePop(queue, &pkg); + if (pkg.points.empty()) { + printf("Publish point cloud2 failed, the pkg points is empty.\n"); + continue; + } + + PointCloud2 cloud; + uint64_t timestamp = 0; + InitPointcloud2Msg(pkg, cloud, timestamp); + PublishPointcloud2Data(index, timestamp, cloud); + } +} + +void Lddc::PublishCustomPointcloud(LidarDataQueue *queue, uint8_t index) { + while (!QueueIsEmpty(queue)) { + StoragePacket pkg; + QueuePop(queue, &pkg); + if (pkg.points.empty()) { + printf("Publish custom point cloud failed, the pkg points is empty.\n"); + continue; + } + + CustomMsg livox_msg; + InitCustomMsg(livox_msg, pkg, index); + FillPointsToCustomMsg(livox_msg, pkg); + PublishCustomPointData(livox_msg, index); + } +} + +void Lddc::PublishPointcloud2AndCustomMsg(LidarDataQueue *queue, + uint8_t index) { + // printf("12312312321\n"); + while (!QueueIsEmpty(queue)) { + StoragePacket pkg; + QueuePop(queue, &pkg); + if (pkg.points.empty()) { + printf("Publish point cloud failed, the pkg points is empty.\n"); + continue; + } + + PointCloud2 cloud; + uint64_t timestamp = 0; + InitPointcloud2Msg(pkg, cloud, timestamp); + PublishPointcloud2Data(index, timestamp, cloud); + + CustomMsg livox_msg; + InitCustomMsg(livox_msg, pkg, index); + FillPointsToCustomMsg(livox_msg, pkg); + PublishCustomPointData(livox_msg, index); + } +} + +/* for pcl::pxyzi */ +void Lddc::PublishPclMsg(LidarDataQueue *queue, uint8_t index) { +#ifdef BUILDING_ROS2 + static bool first_log = true; + if (first_log) { + std::cout + << "error: message type 'pcl::PointCloud' is NOT supported in ROS2, " + << "please modify the 'xfer_format' field in the launch file" + << std::endl; + } + first_log = false; + return; +#endif + while (!QueueIsEmpty(queue)) { + StoragePacket pkg; + QueuePop(queue, &pkg); + if (pkg.points.empty()) { + printf("Publish point cloud failed, the pkg points is empty.\n"); + continue; + } + + PointCloud cloud; + uint64_t timestamp = 0; + InitPclMsg(pkg, cloud, timestamp); + FillPointsToPclMsg(pkg, cloud); + PublishPclData(index, timestamp, cloud); + } + return; +} + +void Lddc::InitPointcloud2MsgHeader(PointCloud2 &cloud) { + cloud.header.frame_id.assign(frame_id_); + cloud.height = 1; + cloud.width = 0; + cloud.fields.resize(7); + cloud.fields[0].offset = 0; + cloud.fields[0].name = "x"; + cloud.fields[0].count = 1; + cloud.fields[0].datatype = PointField::FLOAT32; + cloud.fields[1].offset = 4; + cloud.fields[1].name = "y"; + cloud.fields[1].count = 1; + cloud.fields[1].datatype = PointField::FLOAT32; + cloud.fields[2].offset = 8; + cloud.fields[2].name = "z"; + cloud.fields[2].count = 1; + cloud.fields[2].datatype = PointField::FLOAT32; + cloud.fields[3].offset = 12; + cloud.fields[3].name = "intensity"; + cloud.fields[3].count = 1; + cloud.fields[3].datatype = PointField::FLOAT32; + cloud.fields[4].offset = 16; + cloud.fields[4].name = "tag"; + cloud.fields[4].count = 1; + cloud.fields[4].datatype = PointField::UINT8; + cloud.fields[5].offset = 17; + cloud.fields[5].name = "line"; + cloud.fields[5].count = 1; + cloud.fields[5].datatype = PointField::UINT8; + cloud.fields[6].offset = 18; + cloud.fields[6].name = "timestamp"; + cloud.fields[6].count = 1; + cloud.fields[6].datatype = PointField::FLOAT64; + cloud.point_step = sizeof(LivoxPointXyzrtlt); +} + +void Lddc::InitPointcloud2Msg(const StoragePacket &pkg, PointCloud2 &cloud, + uint64_t ×tamp) { + InitPointcloud2MsgHeader(cloud); + + cloud.point_step = sizeof(LivoxPointXyzrtlt); + + cloud.width = pkg.points_num; + cloud.row_step = cloud.width * cloud.point_step; + + cloud.is_bigendian = false; + cloud.is_dense = true; + + if (!pkg.points.empty()) { + timestamp = pkg.base_time; + } + + cloud.header.stamp = rclcpp::Time(timestamp); + + std::vector points; + for (size_t i = 0; i < pkg.points_num; ++i) { + LivoxPointXyzrtlt point; + point.x = pkg.points[i].x; + point.y = pkg.points[i].y; + point.z = pkg.points[i].z; + point.reflectivity = pkg.points[i].intensity; + point.tag = pkg.points[i].tag; + point.line = pkg.points[i].line; + point.timestamp = static_cast(pkg.points[i].offset_time); + points.push_back(std::move(point)); + } + cloud.data.resize(pkg.points_num * sizeof(LivoxPointXyzrtlt)); + memcpy(cloud.data.data(), points.data(), + pkg.points_num * sizeof(LivoxPointXyzrtlt)); +} + +void Lddc::PublishPointcloud2Data(const uint8_t index, const uint64_t timestamp, + const PointCloud2 &cloud) { + Publisher::SharedPtr publisher_ptr; + if (kAllMsg == transfer_format_) { + publisher_ptr = std::dynamic_pointer_cast>( + GetCurrentPublisher2(index)); + } else { + publisher_ptr = std::dynamic_pointer_cast>( + GetCurrentPublisher(index)); + } + if (kOutputToRos == output_type_) { + publisher_ptr->publish(cloud); + } else { + } +} + +void Lddc::InitCustomMsg(CustomMsg &livox_msg, const StoragePacket &pkg, + uint8_t index) { + livox_msg.header.frame_id.assign(frame_id_); + + uint64_t timestamp = 0; + if (!pkg.points.empty()) { + timestamp = pkg.base_time; + } + livox_msg.timebase = timestamp; + + livox_msg.header.stamp = rclcpp::Time(timestamp); + + livox_msg.point_num = pkg.points_num; + if (lds_->lidars_[index].lidar_type == kLivoxLidarType) { + livox_msg.lidar_id = lds_->lidars_[index].handle; + } else { + printf("Init custom msg lidar id failed, the index:%u.\n", index); + livox_msg.lidar_id = 0; + } +} + +void Lddc::FillPointsToCustomMsg(CustomMsg &livox_msg, + const StoragePacket &pkg) { + uint32_t points_num = pkg.points_num; + const std::vector &points = pkg.points; + for (uint32_t i = 0; i < points_num; ++i) { + CustomPoint point; + point.x = points[i].x; + point.y = points[i].y; + point.z = points[i].z; + point.reflectivity = points[i].intensity; + point.tag = points[i].tag; + point.line = points[i].line; + point.offset_time = + static_cast(points[i].offset_time - pkg.base_time); + + livox_msg.points.push_back(std::move(point)); + } +} + +void Lddc::PublishCustomPointData(const CustomMsg &livox_msg, + const uint8_t index) { + Publisher::SharedPtr publisher_ptr = + std::dynamic_pointer_cast>( + GetCurrentPublisher(index)); + + if (kOutputToRos == output_type_) { + publisher_ptr->publish(livox_msg); + } else { + } +} + +void Lddc::InitPclMsg(const StoragePacket &pkg, PointCloud &cloud, + uint64_t ×tamp) { + std::cout << "warning: pcl::PointCloud is not supported in ROS2, " + << "please check code logic" << std::endl; + return; +} + +void Lddc::FillPointsToPclMsg(const StoragePacket &pkg, PointCloud &pcl_msg) { + std::cout << "warning: pcl::PointCloud is not supported in ROS2, " + << "please check code logic" << std::endl; + return; +} + +void Lddc::PublishPclData(const uint8_t index, const uint64_t timestamp, + const PointCloud &cloud) { + std::cout << "warning: pcl::PointCloud is not supported in ROS2, " + << "please check code logic" << std::endl; + return; +} + +void Lddc::InitImuMsg(const ImuData &imu_data, ImuMsg &imu_msg, + uint64_t ×tamp) { + imu_msg.header.frame_id = "livox_frame"; + + timestamp = imu_data.time_stamp; + imu_msg.header.stamp = rclcpp::Time(timestamp); // to ros time stamp + + imu_msg.angular_velocity.x = imu_data.gyro_x; + imu_msg.angular_velocity.y = imu_data.gyro_y; + imu_msg.angular_velocity.z = imu_data.gyro_z; + imu_msg.linear_acceleration.x = imu_data.acc_x; + imu_msg.linear_acceleration.y = imu_data.acc_y; + imu_msg.linear_acceleration.z = imu_data.acc_z; +} + +void Lddc::PublishImuData(LidarImuDataQueue &imu_data_queue, + const uint8_t index) { + ImuData imu_data; + if (!imu_data_queue.Pop(imu_data)) { + // printf("Publish imu data failed, imu data queue pop failed.\n"); + return; + } + + ImuMsg imu_msg; + uint64_t timestamp; + InitImuMsg(imu_data, imu_msg, timestamp); + + Publisher::SharedPtr publisher_ptr = + std::dynamic_pointer_cast>( + GetCurrentImuPublisher(index)); + + if (kOutputToRos == output_type_) { + publisher_ptr->publish(imu_msg); + } else { + } +} + +std::shared_ptr +Lddc::CreatePublisher(uint8_t msg_type, std::string &topic_name, + uint32_t queue_size) { + if (kPointCloud2Msg == msg_type) { + DRIVER_INFO(*cur_node_, "%s publish use PointCloud2 format", + topic_name.c_str()); + return cur_node_->create_publisher(topic_name, queue_size); + } else if (kLivoxCustomMsg == msg_type) { + DRIVER_INFO(*cur_node_, "%s publish use livox custom format", + topic_name.c_str()); + return cur_node_->create_publisher(topic_name, queue_size); + } else if (kLivoxImuMsg == msg_type) { + DRIVER_INFO(*cur_node_, "%s publish use imu format", topic_name.c_str()); + return cur_node_->create_publisher(topic_name, queue_size); + } else { + PublisherPtr null_publisher(nullptr); + return null_publisher; + } +} + +std::shared_ptr +Lddc::GetCurrentPublisher(uint8_t handle) { + uint32_t queue_size = kMinEthPacketQueueSize; + if (use_multi_topic_) { + if (!private_pub_[handle]) { + char name_str[48]; + memset(name_str, 0, sizeof(name_str)); + + std::string ip_string = IpNumToString(lds_->lidars_[handle].handle); + snprintf(name_str, sizeof(name_str), "livox/lidar_%s", + ReplacePeriodByUnderline(ip_string).c_str()); + std::string topic_name(name_str); + queue_size = queue_size * 2; // queue size is 64 for only one lidar + private_pub_[handle] = + CreatePublisher(transfer_format_, topic_name, queue_size); + } + return private_pub_[handle]; + } else { + if (!global_pub_) { + std::string topic_name("livox/lidar"); + queue_size = queue_size * 8; // shared queue size is 256, for all lidars + if (kAllMsg == transfer_format_) { + global_pub_ = + cur_node_->create_publisher(topic_name, queue_size); + global_pub_2_ = cur_node_->create_publisher( + "livox/lidar/pointcloud", queue_size); + DRIVER_INFO(*cur_node_, "%s publish use pointcloud2 and custom format", + topic_name.c_str()); + } else { + global_pub_ = CreatePublisher(transfer_format_, topic_name, queue_size); + } + } + return global_pub_; + } +} + +std::shared_ptr +Lddc::GetCurrentPublisher2(uint8_t handle) { + uint32_t queue_size = kMinEthPacketQueueSize; + if (use_multi_topic_) { + if (!private_pub_[handle]) { + char name_str[48]; + memset(name_str, 0, sizeof(name_str)); + + std::string ip_string = IpNumToString(lds_->lidars_[handle].handle); + snprintf(name_str, sizeof(name_str), "livox/lidar_%s", + ReplacePeriodByUnderline(ip_string).c_str()); + std::string topic_name(name_str); + queue_size = queue_size * 2; // queue size is 64 for only one lidar + private_pub_[handle] = + CreatePublisher(transfer_format_, topic_name, queue_size); + } + return private_pub_[handle]; + } else { + if (!global_pub_) { + std::string topic_name("livox/lidar"); + queue_size = queue_size * 8; // shared queue size is 256, for all lidars + if (kAllMsg == transfer_format_) { + global_pub_ = + cur_node_->create_publisher(topic_name, queue_size); + global_pub_2_ = cur_node_->create_publisher( + "livox/lidar/pointcloud", queue_size); + DRIVER_INFO(*cur_node_, "%s publish use pointcloud2 and custom format", + topic_name.c_str()); + } else { + global_pub_ = CreatePublisher(transfer_format_, topic_name, queue_size); + } + } + return global_pub_2_; + } +} + +std::shared_ptr +Lddc::GetCurrentImuPublisher(uint8_t handle) { + uint32_t queue_size = kMinEthPacketQueueSize; + if (use_multi_topic_) { + if (!private_imu_pub_[handle]) { + char name_str[48]; + memset(name_str, 0, sizeof(name_str)); + std::string ip_string = IpNumToString(lds_->lidars_[handle].handle); + snprintf(name_str, sizeof(name_str), "livox/imu_%s", + ReplacePeriodByUnderline(ip_string).c_str()); + std::string topic_name(name_str); + queue_size = queue_size * 2; // queue size is 64 for only one lidar + private_imu_pub_[handle] = + CreatePublisher(kLivoxImuMsg, topic_name, queue_size); + } + return private_imu_pub_[handle]; + } else { + if (!global_imu_pub_) { + std::string topic_name("livox/imu"); + queue_size = queue_size * 8; // shared queue size is 256, for all lidars + global_imu_pub_ = CreatePublisher(kLivoxImuMsg, topic_name, queue_size); + } + return global_imu_pub_; + } +} + +void Lddc::CreateBagFile(const std::string &file_name) {} + +} // namespace livox_ros diff --git a/src/rm_driver/livox_ros_driver2/src/src/lddc.h b/src/rm_driver/livox_ros_driver2/src/src/lddc.h new file mode 100644 index 0000000..6bd8a8f --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/lddc.h @@ -0,0 +1,153 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#ifndef LIVOX_ROS_DRIVER2_LDDC_H_ +#define LIVOX_ROS_DRIVER2_LDDC_H_ + +#include "comm/comm.h" +#include "include/livox_ros_driver2.h" + +#include "driver_node.h" +#include "lds.h" +#include + +namespace livox_ros { + +/** Send pointcloud message Data to ros subscriber or save them in rosbag file + */ +typedef enum { + kOutputToRos = 0, + kOutputToRosBagFile = 1, +} DestinationOfMessageOutput; + +/** The message type of transfer */ +typedef enum { + kPointCloud2Msg = 0, + kLivoxCustomMsg = 1, + kPclPxyziMsg = 2, + kLivoxImuMsg = 3, + kAllMsg = 4, +} TransferType; + +/** Type-Definitions based on ROS versions */ +template using Publisher = rclcpp::Publisher; +using PublisherPtr = std::shared_ptr; +using PointCloud2 = sensor_msgs::msg::PointCloud2; +using PointField = sensor_msgs::msg::PointField; +using CustomMsg = livox_ros_driver2::msg::CustomMsg; +using CustomPoint = livox_ros_driver2::msg::CustomPoint; +using ImuMsg = sensor_msgs::msg::Imu; + +using PointCloud = pcl::PointCloud; + +class DriverNode; + +class Lddc final { +public: + Lddc(int format, int multi_topic, int data_src, int output_type, double frq, + std::string &frame_id); + ~Lddc(); + + int RegisterLds(Lds *lds); + void DistributePointCloudData(void); + void DistributeImuData(void); + void CreateBagFile(const std::string &file_name); + void PrepareExit(void); + + uint8_t GetTransferFormat(void) { return transfer_format_; } + uint8_t IsMultiTopic(void) { return use_multi_topic_; } + void SetRosNode(livox_ros::DriverNode *node) { cur_node_ = node; } + + // void SetRosPub(ros::Publisher *pub) { global_pub_ = pub; }; // NOT USED + void SetPublishFrq(uint32_t frq) { publish_frq_ = frq; } + +public: + Lds *lds_; + +private: + void PollingLidarPointCloudData(uint8_t index, LidarDevice *lidar); + void PollingLidarImuData(uint8_t index, LidarDevice *lidar); + + void PublishPointcloud2(LidarDataQueue *queue, uint8_t index); + void PublishCustomPointcloud(LidarDataQueue *queue, uint8_t index); + void PublishPointcloud2AndCustomMsg(LidarDataQueue *queue, uint8_t index); + void PublishPclMsg(LidarDataQueue *queue, uint8_t index); + + void PublishImuData(LidarImuDataQueue &imu_data_queue, const uint8_t index); + + void InitPointcloud2MsgHeader(PointCloud2 &cloud); + void InitPointcloud2Msg(const StoragePacket &pkg, PointCloud2 &cloud, + uint64_t ×tamp); + void PublishPointcloud2Data(const uint8_t index, uint64_t timestamp, + const PointCloud2 &cloud); + + + void InitCustomMsg(CustomMsg &livox_msg, const StoragePacket &pkg, + uint8_t index); + void FillPointsToCustomMsg(CustomMsg &livox_msg, const StoragePacket &pkg); + void PublishCustomPointData(const CustomMsg &livox_msg, const uint8_t index); + + void InitPclMsg(const StoragePacket &pkg, PointCloud &cloud, + uint64_t ×tamp); + void FillPointsToPclMsg(const StoragePacket &pkg, PointCloud &pcl_msg); + void PublishPclData(const uint8_t index, const uint64_t timestamp, + const PointCloud &cloud); + + void InitImuMsg(const ImuData &imu_data, ImuMsg &imu_msg, + uint64_t ×tamp); + + void FillPointsToPclMsg(PointCloud &pcl_msg, LivoxPointXyzrtlt *src_point, + uint32_t num); + void FillPointsToCustomMsg(CustomMsg &livox_msg, LivoxPointXyzrtlt *src_point, + uint32_t num, uint32_t offset_time, + uint32_t point_interval, uint32_t echo_num); + + PublisherPtr CreatePublisher(uint8_t msg_type, std::string &topic_name, + uint32_t queue_size); + + PublisherPtr GetCurrentPublisher(uint8_t index); + PublisherPtr GetCurrentPublisher2(uint8_t index); + PublisherPtr GetCurrentImuPublisher(uint8_t index); + +private: + uint8_t transfer_format_; + uint8_t use_multi_topic_; + uint8_t data_src_; + uint8_t output_type_; + double publish_frq_; + uint32_t publish_period_ns_; + std::string frame_id_; + + PublisherPtr private_pub_[kMaxSourceLidar]; + PublisherPtr global_pub_; + PublisherPtr global_pub_2_; + PublisherPtr private_imu_pub_[kMaxSourceLidar]; + PublisherPtr global_imu_pub_; + + livox_ros::DriverNode *cur_node_; +}; + +} // namespace livox_ros + +#endif // LIVOX_ROS_DRIVER2_LDDC_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/src/lds.cpp b/src/rm_driver/livox_ros_driver2/src/src/lds.cpp new file mode 100644 index 0000000..ca98462 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/lds.cpp @@ -0,0 +1,200 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#include +#include +#include +#include +#include +#include + +#include "lds.h" +#include "comm/ldq.h" + +namespace livox_ros { + +CacheIndex Lds::cache_index_; + +/* Member function --------------------------------------------------------- */ +Lds::Lds(const double publish_freq, const uint8_t data_src) + : lidar_count_(kMaxSourceLidar), + pcd_semaphore_(0), + imu_semaphore_(0), + publish_freq_(publish_freq), + data_src_(data_src), + request_exit_(false) { + ResetLds(data_src_); +} + +Lds::~Lds() { + lidar_count_ = 0; + ResetLds(0); + printf("lds destory!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"); +} + +void Lds::ResetLidar(LidarDevice *lidar, uint8_t data_src) { + //cache_index_.ResetIndex(lidar); + DeInitQueue(&lidar->data); + lidar->imu_data.Clear(); + + lidar->data_src = data_src; + lidar->connect_state = kConnectStateOff; +} + +void Lds::SetLidarDataSrc(LidarDevice *lidar, uint8_t data_src) { + lidar->data_src = data_src; +} + +void Lds::ResetLds(uint8_t data_src) { + lidar_count_ = kMaxSourceLidar; + for (uint32_t i = 0; i < kMaxSourceLidar; i++) { + ResetLidar(&lidars_[i], data_src); + } +} + +void Lds::RequestExit() { + request_exit_ = true; +} + +bool Lds::IsAllQueueEmpty() { + for (int i = 0; i < lidar_count_; i++) { + if (!QueueIsEmpty(&lidars_[i].data)) { + return false; + } + } + return true; +} + +bool Lds::IsAllQueueReadStop() { + for (int i = 0; i < lidar_count_; i++) { + uint32_t data_size = QueueUsedSize(&lidars_[i].data); + if (data_size) { + return false; + } + } + return true; +} + +void Lds::StorageImuData(ImuData* imu_data) { + uint32_t device_num = 0; + if (imu_data->lidar_type == kLivoxLidarType) { + device_num = imu_data->handle; + } else { + printf("Storage imu data failed, unknown lidar type:%u.\n", imu_data->lidar_type); + return; + } + + uint8_t index = 0; + int ret = cache_index_.GetIndex(imu_data->lidar_type, device_num, index); + if (ret != 0) { + printf("Storage point data failed, can not get index, lidar type:%u, device_num:%u.\n", imu_data->lidar_type, device_num); + return; + } + + LidarDevice *p_lidar = &lidars_[index]; + LidarImuDataQueue* imu_queue = &p_lidar->imu_data; + imu_queue->Push(imu_data); + if (!imu_queue->Empty()) { + if (imu_semaphore_.GetCount() <= 0) { + imu_semaphore_.Signal(); + } + } +} + +void Lds::StorageLvxPointData(PointFrame* frame) { + if (frame == nullptr) { + return; + } + + uint8_t lidar_number = frame->lidar_num; + for (uint i = 0; i < lidar_number; ++i) { + PointPacket& lidar_point = frame->lidar_point[i]; + + uint64_t base_time = frame->base_time[i]; + uint8_t index = 0; + int8_t ret = cache_index_.LvxGetIndex(lidar_point.lidar_type, lidar_point.handle, index); + if (ret != 0) { + printf("Storage lvx point data failed, lidar type:%u, device num:%u.\n", lidar_point.lidar_type, lidar_point.handle); + continue; + } + + lidars_[index].connect_state = kConnectStateSampling; + + PushLidarData(&lidar_point, index, base_time); + } +} + +void Lds::StoragePointData(PointFrame* frame) { + if (frame == nullptr) { + return; + } + + uint8_t lidar_number = frame->lidar_num; + for (uint i = 0; i < lidar_number; ++i) { + PointPacket& lidar_point = frame->lidar_point[i]; + //printf("StoragePointData, lidar_type:%u, point_num:%lu.\n", lidar_point.lidar_type, lidar_point.points_num); + + uint64_t base_time = frame->base_time[i]; + + uint8_t index = 0; + int8_t ret = cache_index_.GetIndex(lidar_point.lidar_type, lidar_point.handle, index); + if (ret != 0) { + printf("Storage point data failed, lidar type:%u, handle:%u.\n", lidar_point.lidar_type, lidar_point.handle); + continue; + } + PushLidarData(&lidar_point, index, base_time); + } +} + +void Lds::PushLidarData(PointPacket* lidar_data, const uint8_t index, const uint64_t base_time) { + if (lidar_data == nullptr) { + return; + } + + LidarDevice *p_lidar = &lidars_[index]; + LidarDataQueue *queue = &p_lidar->data; + + if (nullptr == queue->storage_packet) { + uint32_t queue_size = CalculatePacketQueueSize(publish_freq_); + InitQueue(queue, queue_size); + printf("Lidar[%u] storage queue size: %u\n", index, queue_size); + } + + if (!QueueIsFull(queue)) { + QueuePushAny(queue, (uint8_t *)lidar_data, base_time); + if (!QueueIsEmpty(queue)) { + if (pcd_semaphore_.GetCount() <= 0) { + pcd_semaphore_.Signal(); + } + } + } else { + if (pcd_semaphore_.GetCount() <= 0) { + pcd_semaphore_.Signal(); + } + } +} + +void Lds::PrepareExit(void) {} + +} // namespace livox_ros diff --git a/src/rm_driver/livox_ros_driver2/src/src/lds.h b/src/rm_driver/livox_ros_driver2/src/src/lds.h new file mode 100644 index 0000000..c61eeea --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/lds.h @@ -0,0 +1,83 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +// livox lidar data source + +#ifndef LIVOX_ROS_DRIVER_LDS_H_ +#define LIVOX_ROS_DRIVER_LDS_H_ + +#include + +#include "comm/semaphore.h" +#include "comm/comm.h" +#include "comm/cache_index.h" + +namespace livox_ros { +/** + * Lidar data source abstract. + */ +class Lds { + public: + Lds(const double publish_freq, const uint8_t data_src); + virtual ~Lds(); + + void StorageImuData(ImuData* imu_data); + void StoragePointData(PointFrame* frame); + void StorageLvxPointData(PointFrame* frame); + + int8_t GetHandle(const uint8_t lidar_type, const PointPacket* lidar_point); + void PushLidarData(PointPacket* lidar_data, const uint8_t index, const uint64_t base_time); + + static void ResetLidar(LidarDevice *lidar, uint8_t data_src); + static void SetLidarDataSrc(LidarDevice *lidar, uint8_t data_src); + void ResetLds(uint8_t data_src); + + void RequestExit(); + + bool IsAllQueueEmpty(); + bool IsAllQueueReadStop(); + + void CleanRequestExit() { request_exit_ = false; } + bool IsRequestExit() { return request_exit_; } + virtual void PrepareExit(void); + + // get publishing frequency + double GetLdsFrequency() { return publish_freq_; } + + public: + uint8_t lidar_count_; /**< Lidar access handle. */ + LidarDevice lidars_[kMaxSourceLidar]; /**< The index is the handle */ + Semaphore pcd_semaphore_; + Semaphore imu_semaphore_; + static CacheIndex cache_index_; + protected: + double publish_freq_; + uint8_t data_src_; + private: + volatile bool request_exit_; +}; + +} // namespace livox_ros + +#endif // LIVOX_ROS_DRIVER_LDS_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/src/lds_lidar.cpp b/src/rm_driver/livox_ros_driver2/src/src/lds_lidar.cpp new file mode 100644 index 0000000..c597d69 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/lds_lidar.cpp @@ -0,0 +1,213 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#include "lds_lidar.h" + +#include +#include +#include +#include +#include + + +#ifdef WIN32 +#include +#include +#pragma comment(lib, "Ws2_32.lib") +#else +#include +#include +#include +#include + +#endif // WIN32 + +#include "comm/comm.h" +#include "comm/pub_handler.h" + +#include "parse_cfg_file/parse_cfg_file.h" +#include "parse_cfg_file/parse_livox_lidar_cfg.h" + +#include "call_back/lidar_common_callback.h" +#include "call_back/livox_lidar_callback.h" + +using namespace std; + +namespace livox_ros { + +/** Const varible ------------------------------------------------------------*/ +/** For callback use only */ +LdsLidar *g_lds_ldiar = nullptr; + +/** Global function for common use -------------------------------------------*/ + +/** Lds lidar function -------------------------------------------------------*/ +LdsLidar::LdsLidar(double publish_freq) + : Lds(publish_freq, kSourceRawLidar), auto_connect_mode_(true), + whitelist_count_(0), is_initialized_(false) { + memset(broadcast_code_whitelist_, 0, sizeof(broadcast_code_whitelist_)); + ResetLdsLidar(); +} + +LdsLidar::~LdsLidar() {} + +void LdsLidar::ResetLdsLidar(void) { ResetLds(kSourceRawLidar); } + +bool LdsLidar::InitLdsLidar(const std::string &path_name) { + if (is_initialized_) { + printf("Lds is already inited!\n"); + return false; + } + + if (g_lds_ldiar == nullptr) { + g_lds_ldiar = this; + } + + path_ = path_name; + if (!InitLidars()) { + return false; + } + SetLidarPubHandle(); + if (!Start()) { + return false; + } + is_initialized_ = true; + return true; +} + +bool LdsLidar::InitLidars() { + if (!ParseSummaryConfig()) { + return false; + } + std::cout << "config lidar type: " + << static_cast(lidar_summary_info_.lidar_type) << std::endl; + + if (lidar_summary_info_.lidar_type & kLivoxLidarType) { + if (!InitLivoxLidar()) { + return false; + } + } + return true; +} + +bool LdsLidar::Start() { + if (lidar_summary_info_.lidar_type & kLivoxLidarType) { + if (!LivoxLidarStart()) { + return false; + } + } + return true; +} + +bool LdsLidar::ParseSummaryConfig() { + return ParseCfgFile(path_).ParseSummaryInfo(lidar_summary_info_); +} + +bool LdsLidar::InitLivoxLidar() { + DisableLivoxSdkConsoleLogger(); + + // parse user config + LivoxLidarConfigParser parser(path_); + std::vector user_configs; + if (!parser.Parse(user_configs)) { + std::cout << "failed to parse user-defined config" << std::endl; + } + + // SDK initialization + if (!LivoxLidarSdkInit(path_.c_str())) { + std::cout << "Failed to init livox lidar sdk." << std::endl; + return false; + } + + // fill in lidar devices + for (auto &config : user_configs) { + uint8_t index = 0; + int8_t ret = g_lds_ldiar->cache_index_.GetFreeIndex(kLivoxLidarType, + config.handle, index); + if (ret != 0) { + std::cout << "failed to get free index, lidar ip: " + << IpNumToString(config.handle) << std::endl; + continue; + } + LidarDevice *p_lidar = &(g_lds_ldiar->lidars_[index]); + p_lidar->lidar_type = kLivoxLidarType; + p_lidar->livox_config = config; + p_lidar->handle = config.handle; + + LidarExtParameter lidar_param; + lidar_param.handle = config.handle; + lidar_param.lidar_type = kLivoxLidarType; + if (config.pcl_data_type == kLivoxLidarCartesianCoordinateLowData) { + // temporary resolution + lidar_param.param.roll = config.extrinsic_param.roll; + lidar_param.param.pitch = config.extrinsic_param.pitch; + lidar_param.param.yaw = config.extrinsic_param.yaw; + lidar_param.param.x = config.extrinsic_param.x / 10; + lidar_param.param.y = config.extrinsic_param.y / 10; + lidar_param.param.z = config.extrinsic_param.z / 10; + } else { + lidar_param.param.roll = config.extrinsic_param.roll; + lidar_param.param.pitch = config.extrinsic_param.pitch; + lidar_param.param.yaw = config.extrinsic_param.yaw; + lidar_param.param.x = config.extrinsic_param.x; + lidar_param.param.y = config.extrinsic_param.y; + lidar_param.param.z = config.extrinsic_param.z; + } + pub_handler().AddLidarsExtParam(lidar_param); + } + + SetLivoxLidarInfoChangeCallback(LivoxLidarCallback::LidarInfoChangeCallback, + g_lds_ldiar); + return true; +} + +void LdsLidar::SetLidarPubHandle() { + pub_handler().SetPointCloudsCallback(LidarCommonCallback::OnLidarPointClounCb, + g_lds_ldiar); + pub_handler().SetImuDataCallback(LidarCommonCallback::LidarImuDataCallback, + g_lds_ldiar); + + double publish_freq = Lds::GetLdsFrequency(); + pub_handler().SetPointCloudConfig(publish_freq); +} + +bool LdsLidar::LivoxLidarStart() { return true; } + +int LdsLidar::DeInitLdsLidar(void) { + if (!is_initialized_) { + printf("LiDAR data source is not exit"); + return -1; + } + + if (lidar_summary_info_.lidar_type & kLivoxLidarType) { + LivoxLidarSdkUninit(); + printf("Livox Lidar SDK Deinit completely!\n"); + } + + return 0; +} + +void LdsLidar::PrepareExit(void) { DeInitLdsLidar(); } + +} // namespace livox_ros diff --git a/src/rm_driver/livox_ros_driver2/src/src/lds_lidar.h b/src/rm_driver/livox_ros_driver2/src/src/lds_lidar.h new file mode 100644 index 0000000..b35c9c2 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/lds_lidar.h @@ -0,0 +1,95 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +/** Livox LiDAR data source, data from dependent lidar */ + +#ifndef LIVOX_ROS_DRIVER_LDS_LIDAR_H_ +#define LIVOX_ROS_DRIVER_LDS_LIDAR_H_ + +#include +#include +#include + +#include "lds.h" +#include "comm/comm.h" + +#include "livox_lidar_api.h" +#include "livox_lidar_def.h" + +#include "rapidjson/document.h" + +namespace livox_ros { + +class LdsLidar final : public Lds { + public: + static LdsLidar *GetInstance(double publish_freq) { + printf("LdsLidar *GetInstance\n"); + static LdsLidar lds_lidar(publish_freq); + return &lds_lidar; + } + + bool InitLdsLidar(const std::string& path_name); + bool Start(); + + int DeInitLdsLidar(void); + private: + LdsLidar(double publish_freq); + LdsLidar(const LdsLidar &) = delete; + ~LdsLidar(); + LdsLidar &operator=(const LdsLidar &) = delete; + + bool ParseSummaryConfig(); + + bool InitLidars(); + bool InitLivoxLidar(); // for new SDK + + bool LivoxLidarStart(); + + void ResetLdsLidar(void); + + void SetLidarPubHandle(); + + // auto connect mode + void EnableAutoConnectMode(void) { auto_connect_mode_ = true; } + void DisableAutoConnectMode(void) { auto_connect_mode_ = false; } + bool IsAutoConnectMode(void) { return auto_connect_mode_; } + + virtual void PrepareExit(void); + + public: + std::mutex config_mutex_; + + private: + std::string path_; + LidarSummaryInfo lidar_summary_info_; + + bool auto_connect_mode_; + uint32_t whitelist_count_; + volatile bool is_initialized_; + char broadcast_code_whitelist_[kMaxLidarCount][kBroadcastCodeSize]; +}; + +} // namespace livox_ros + +#endif // LIVOX_ROS_DRIVER_LDS_LIDAR_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/src/livox_ros_driver2.cpp b/src/rm_driver/livox_ros_driver2/src/src/livox_ros_driver2.cpp new file mode 100644 index 0000000..8f60afb --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/livox_ros_driver2.cpp @@ -0,0 +1,137 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#include +#include +#include +#include +#include + + +#include "driver_node.h" +#include "include/livox_ros_driver2.h" +#include "include/ros_headers.h" +#include "lddc.h" +#include "lds_lidar.h" + + +using namespace livox_ros; + +namespace livox_ros { +DriverNode::DriverNode(const rclcpp::NodeOptions &node_options) + : Node("livox_driver_node", node_options) { + DRIVER_INFO(*this, "Livox Ros Driver2 Version: %s", + LIVOX_ROS_DRIVER2_VERSION_STRING); + + /** Init default system parameter */ + int xfer_format = kPointCloud2Msg; + int multi_topic = 0; + int data_src = kSourceRawLidar; + double publish_freq = 10.0; /* Hz */ + int output_type = kOutputToRos; + std::string frame_id; + + this->declare_parameter("xfer_format", xfer_format); + this->declare_parameter("multi_topic", 0); + this->declare_parameter("data_src", data_src); + this->declare_parameter("publish_freq", 10.0); + this->declare_parameter("output_data_type", output_type); + this->declare_parameter("frame_id", "frame_default"); + this->declare_parameter("user_config_path", "path_default"); + this->declare_parameter("cmdline_input_bd_code", "000000000000001"); + this->declare_parameter("lvx_file_path", "/home/livox/livox_test.lvx"); + + this->get_parameter("xfer_format", xfer_format); + this->get_parameter("multi_topic", multi_topic); + this->get_parameter("data_src", data_src); + this->get_parameter("publish_freq", publish_freq); + this->get_parameter("output_data_type", output_type); + this->get_parameter("frame_id", frame_id); + + if (publish_freq > 100.0) { + publish_freq = 100.0; + } else if (publish_freq < 0.5) { + publish_freq = 0.5; + } else { + publish_freq = publish_freq; + } + + future_ = exit_signal_.get_future(); + + /** Lidar data distribute control and lidar data source set */ + lddc_ptr_ = std::make_unique(xfer_format, multi_topic, data_src, + output_type, publish_freq, frame_id); + lddc_ptr_->SetRosNode(this); + + if (data_src == kSourceRawLidar) { + DRIVER_INFO(*this, "Data Source is raw lidar."); + + std::string user_config_path; + this->get_parameter("user_config_path", user_config_path); + DRIVER_INFO(*this, "Config file : %s", user_config_path.c_str()); + + std::string cmdline_bd_code; + this->get_parameter("cmdline_input_bd_code", cmdline_bd_code); + + LdsLidar *read_lidar = LdsLidar::GetInstance(publish_freq); + lddc_ptr_->RegisterLds(static_cast(read_lidar)); + + if ((read_lidar->InitLdsLidar(user_config_path))) { + DRIVER_INFO(*this, "Init lds lidar success!"); + } else { + DRIVER_ERROR(*this, "Init lds lidar fail!"); + } + } else { + DRIVER_ERROR(*this, "Invalid data src (%d), please check the launch file", + data_src); + } + + pointclouddata_poll_thread_ = std::make_shared( + &DriverNode::PointCloudDataPollThread, this); + imudata_poll_thread_ = + std::make_shared(&DriverNode::ImuDataPollThread, this); +} + +} // namespace livox_ros + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(livox_ros::DriverNode) + +void DriverNode::PointCloudDataPollThread() { + std::future_status status; + std::this_thread::sleep_for(std::chrono::seconds(3)); + do { + lddc_ptr_->DistributePointCloudData(); + status = future_.wait_for(std::chrono::microseconds(0)); + } while (status == std::future_status::timeout); +} + +void DriverNode::ImuDataPollThread() { + std::future_status status; + std::this_thread::sleep_for(std::chrono::seconds(3)); + do { + lddc_ptr_->DistributeImuData(); + status = future_.wait_for(std::chrono::microseconds(0)); + } while (status == std::future_status::timeout); +} diff --git a/src/rm_driver/livox_ros_driver2/src/src/parse_cfg_file/parse_cfg_file.cpp b/src/rm_driver/livox_ros_driver2/src/src/parse_cfg_file/parse_cfg_file.cpp new file mode 100644 index 0000000..d967087 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/parse_cfg_file/parse_cfg_file.cpp @@ -0,0 +1,67 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#include "parse_cfg_file.h" + +#include +#include +#include + +namespace livox_ros { + +ParseCfgFile::ParseCfgFile(const std::string& path) : path_(path) {} + +bool ParseCfgFile::ParseSummaryInfo(LidarSummaryInfo& lidar_summary_info) { + FILE* raw_file = std::fopen(path_.c_str(), "rb"); + if (!raw_file) { + std::cout << "parse summary info failed, can not open file: " << path_ << std::endl; + return false; + } + + char read_buffer[kMaxBufferSize]; + rapidjson::FileReadStream config_file(raw_file, read_buffer, sizeof(read_buffer)); + rapidjson::Document doc; + do { + if (doc.ParseStream(config_file).HasParseError()) { + break; + } + if (!doc.HasMember("lidar_summary_info") || !doc["lidar_summary_info"].IsObject()) { + break; + } + const rapidjson::Value &object = doc["lidar_summary_info"]; + if (!object.HasMember("lidar_type") || !object["lidar_type"].IsUint()) { + break; + } + lidar_summary_info.lidar_type = static_cast(object["lidar_type"].GetUint()); + std::fclose(raw_file); + return true; + } while (false); + + std::cout << "parse lidar type failed." << std::endl; + std::fclose(raw_file); + return false; +} + +} // namespace livox_ros + diff --git a/src/rm_driver/livox_ros_driver2/src/src/parse_cfg_file/parse_cfg_file.h b/src/rm_driver/livox_ros_driver2/src/src/parse_cfg_file/parse_cfg_file.h new file mode 100644 index 0000000..8d2db1c --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/parse_cfg_file/parse_cfg_file.h @@ -0,0 +1,52 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#ifndef LIVOX_ROS_DRIVER_PARSE_CFG_FILE_H_ +#define LIVOX_ROS_DRIVER_PARSE_CFG_FILE_H_ + +#include "../comm/comm.h" + +#include "rapidjson/document.h" +#include "rapidjson/filereadstream.h" +#include "rapidjson/stringbuffer.h" + +#include +#include + +namespace livox_ros { + +class ParseCfgFile { + public: + explicit ParseCfgFile(const std::string& path); + ~ParseCfgFile() {} + + bool ParseSummaryInfo(LidarSummaryInfo& lidar_summary_info); + + private: + const std::string path_; +}; + +} // namespace livox_ros + +#endif // LIVOX_ROS_DRIVER_PARSE_CFG_FILE_H_ diff --git a/src/rm_driver/livox_ros_driver2/src/src/parse_cfg_file/parse_livox_lidar_cfg.cpp b/src/rm_driver/livox_ros_driver2/src/src/parse_cfg_file/parse_livox_lidar_cfg.cpp new file mode 100644 index 0000000..9360733 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/parse_cfg_file/parse_livox_lidar_cfg.cpp @@ -0,0 +1,156 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#include "parse_livox_lidar_cfg.h" +#include + +namespace livox_ros { + +bool LivoxLidarConfigParser::Parse(std::vector &lidar_configs) { + FILE* raw_file = std::fopen(path_.c_str(), "rb"); + if (!raw_file) { + std::cout << "failed to open config file: " << path_ << std::endl; + return false; + } + + lidar_configs.clear(); + char read_buffer[kMaxBufferSize]; + rapidjson::FileReadStream config_file(raw_file, read_buffer, sizeof(read_buffer)); + rapidjson::Document doc; + + do { + if (doc.ParseStream(config_file).HasParseError()) { + std::cout << "failed to parse config jason" << std::endl; + break; + } + if (!doc.HasMember("lidar_configs") || + !doc["lidar_configs"].IsArray() || + 0 == doc["lidar_configs"].Size()) { + std::cout << "there is no user-defined config" << std::endl; + break; + } + if (!ParseUserConfigs(doc, lidar_configs)) { + std::cout << "failed to parse basic configs" << std::endl; + break; + } + return true; + } while (false); + + std::fclose(raw_file); + return false; +} + +bool LivoxLidarConfigParser::ParseUserConfigs(const rapidjson::Document &doc, + std::vector &user_configs) { + const rapidjson::Value &lidar_configs = doc["lidar_configs"]; + for (auto &config : lidar_configs.GetArray()) { + if (!config.HasMember("ip")) { + continue; + } + UserLivoxLidarConfig user_config; + + // parse user configs + user_config.handle = IpStringToNum(std::string(config["ip"].GetString())); + if (!config.HasMember("pcl_data_type")) { + user_config.pcl_data_type = -1; + } else { + user_config.pcl_data_type = static_cast(config["pcl_data_type"].GetInt()); + } + if (!config.HasMember("pattern_mode")) { + user_config.pattern_mode = -1; + } else { + user_config.pattern_mode = static_cast(config["pattern_mode"].GetInt()); + } + if (!config.HasMember("blind_spot_set")) { + user_config.blind_spot_set = -1; + } else { + user_config.blind_spot_set = static_cast(config["blind_spot_set"].GetInt()); + } + if (!config.HasMember("dual_emit_en")) { + user_config.dual_emit_en = -1; + } else { + user_config.dual_emit_en = static_cast(config["dual_emit_en"].GetInt()); + } + if (!config.HasMember("extrinsic_parameter")) { + memset(&user_config.extrinsic_param, 0, sizeof(user_config.extrinsic_param)); + } else { + auto &value = config["extrinsic_parameter"]; + if (!ParseExtrinsics(value, user_config.extrinsic_param)) { + memset(&user_config.extrinsic_param, 0, sizeof(user_config.extrinsic_param)); + std::cout << "failed to parse extrinsic parameters, ip: " + << IpNumToString(user_config.handle) << std::endl; + } + } + user_config.set_bits = 0; + user_config.get_bits = 0; + + user_configs.push_back(user_config); + } + + if (0 == user_configs.size()) { + std::cout << "no valid base configs" << std::endl; + return false; + } + std::cout << "successfully parse base config, counts: " + << user_configs.size() << std::endl; + return true; +} + +bool LivoxLidarConfigParser::ParseExtrinsics(const rapidjson::Value &value, + ExtParameter ¶m) { + if (!value.HasMember("roll")) { + param.roll = 0.0f; + } else { + param.roll = static_cast(value["roll"].GetFloat()); + } + if (!value.HasMember("pitch")) { + param.pitch = 0.0f; + } else { + param.pitch = static_cast(value["pitch"].GetFloat()); + } + if (!value.HasMember("yaw")) { + param.yaw = 0.0f; + } else { + param.yaw = static_cast(value["yaw"].GetFloat()); + } + if (!value.HasMember("x")) { + param.x = 0; + } else { + param.x = static_cast(value["x"].GetInt()); + } + if (!value.HasMember("y")) { + param.y = 0; + } else { + param.y = static_cast(value["y"].GetInt()); + } + if (!value.HasMember("z")) { + param.z = 0; + } else { + param.z = static_cast(value["z"].GetInt()); + } + + return true; +} + +} // namespace livox_ros diff --git a/src/rm_driver/livox_ros_driver2/src/src/parse_cfg_file/parse_livox_lidar_cfg.h b/src/rm_driver/livox_ros_driver2/src/src/parse_cfg_file/parse_livox_lidar_cfg.h new file mode 100644 index 0000000..8219f91 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2/src/src/parse_cfg_file/parse_livox_lidar_cfg.h @@ -0,0 +1,58 @@ +// +// The MIT License (MIT) +// +// Copyright (c) 2022 Livox. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. +// + +#ifndef LIVOX_ROS_DRIVER_LIVOX_LIDAR_CFG_PARSER_H_ +#define LIVOX_ROS_DRIVER_LIVOX_LIDAR_CFG_PARSER_H_ + +#include "comm/comm.h" +#include "livox_lidar_def.h" + +#include "rapidjson/document.h" +#include "rapidjson/filereadstream.h" +#include "rapidjson/stringbuffer.h" + +#include +#include +#include + +namespace livox_ros { + +class LivoxLidarConfigParser { + public: + explicit LivoxLidarConfigParser(const std::string& path) : path_(path) {} + ~LivoxLidarConfigParser() {} + + bool Parse(std::vector &lidar_configs); + + private: + bool ParseUserConfigs(const rapidjson::Document &doc, + std::vector &user_configs); + bool ParseExtrinsics(const rapidjson::Value &value, ExtParameter ¶m); + + const std::string path_; +}; + +} // namespace livox_ros + +#endif // LIVOX_ROS_DRIVER_LIVOX_LIDAR_CFG_PARSER_H_ diff --git a/src/rm_driver/rm_serial_driver/CMakeLists.txt b/src/rm_driver/rm_serial_driver/CMakeLists.txt new file mode 100644 index 0000000..bf56ffc --- /dev/null +++ b/src/rm_driver/rm_serial_driver/CMakeLists.txt @@ -0,0 +1,47 @@ +cmake_minimum_required(VERSION 3.5) +project(rm_serial_driver) + +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(rclcpp_components REQUIRED) +find_package(std_msgs REQUIRED) +find_package(serial REQUIRED) +find_package(rm_msgs REQUIRED) + +# 构建共享库作为组件节点 +add_library(rm_serial_driver SHARED + src/rm_serial_driver.cpp + src/crc.cpp +) + +target_include_directories(rm_serial_driver PUBLIC + $ + $ +) + +ament_target_dependencies(rm_serial_driver + rclcpp + rclcpp_components + std_msgs + serial + rm_msgs +) + +# 注册节点 +rclcpp_components_register_nodes(rm_serial_driver "rm_serial_driver::RMSerialDriver") + +install(DIRECTORY launch + DESTINATION share/${PROJECT_NAME}/ +) + +install(DIRECTORY config + DESTINATION share/${PROJECT_NAME}/ +) + +install(TARGETS rm_serial_driver + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin +) + +ament_package() \ No newline at end of file diff --git a/src/rm_driver/rm_serial_driver/LICENSE b/src/rm_driver/rm_serial_driver/LICENSE new file mode 100644 index 0000000..cb386d0 --- /dev/null +++ b/src/rm_driver/rm_serial_driver/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2025 zucheng Lv + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/src/rm_driver/rm_serial_driver/README.md b/src/rm_driver/rm_serial_driver/README.md new file mode 100644 index 0000000..d51babe --- /dev/null +++ b/src/rm_driver/rm_serial_driver/README.md @@ -0,0 +1,70 @@ +# rm_serial_driver + +ROS2: 适用于RM的简易上位机串口通信程序。 + +## 使用方式 + +### 1. 安装依赖 + +首先，安装所需的依赖包： + +```bash +sudo apt install ros-humble-serial-driver +``` + +### 2. 编译并安装串口库 + +克隆串口库源码并编译安装： + +```bash +git clone https://github.com/ZhaoXiangBox/serial.git +cd serial +mkdir build +cd build +cmake .. +make +sudo make install +``` + +**注意**：安装完成后可能需要重启系统。 + +### 3. 下载并编译项目 + +将项目克隆到你的ROS2工作空间中： + +```bash +cd ~/ros2_ws/src +git clone https://github.com/goldenfishs/rm_serial_driver.git +git clone https://github.com/goldenfishs/rm_msg.git # 包含所需的自定义话题消息，必须一起使用 +``` + +回到工作空间并编译： + +```bash +cd ~/ros2_ws +colcon build +source install/setup.bash +``` + +### 4. 运行程序 + +使用以下命令启动串口驱动： + +```bash +ros2 launch rm_serial_driver rm_serial_driver.launch.py +``` +使用时请将上位机控制命令发送到data_ai话题，即可将数据传给下位机，下位机发送上来的数据会发布到data_mcu和data_ref话题，其他程序可直接哪去 + +### 5. 自定义通信协议 + +如果需要自定义通信协议，可以参考 `protocol.h` 文件，修改对应的协议。同时，修改 `rm_msgs` 包中的自定义消息，注意数据顺序和数据类型。修改完成后，重新编译即可。 + +```bash +colcon build +source install/setup.bash +``` + +## 注意事项 + +- 确保在修改协议和消息后重新编译项目。 +- 如果遇到问题，请检查串口连接和权限设置。 diff --git a/src/rm_driver/rm_serial_driver/config/serial_config.yaml b/src/rm_driver/rm_serial_driver/config/serial_config.yaml new file mode 100644 index 0000000..b4eb2bc --- /dev/null +++ b/src/rm_driver/rm_serial_driver/config/serial_config.yaml @@ -0,0 +1,4 @@ +/rm_serial_driver: + ros__parameters: + device_name: /dev/ttyACM1 + baud_rate: 115200 \ No newline at end of file diff --git a/src/rm_driver/rm_serial_driver/include/rm_serial_driver/crc.hpp b/src/rm_driver/rm_serial_driver/include/rm_serial_driver/crc.hpp new file mode 100644 index 0000000..7e0b040 --- /dev/null +++ b/src/rm_driver/rm_serial_driver/include/rm_serial_driver/crc.hpp @@ -0,0 +1,14 @@ +#pragma once + +#include +#include + +#define CRC16_INIT 0xFFFF + +namespace crc16 { + +uint16_t CRC16_Calc(const uint8_t *buf, size_t len, uint16_t crc); + +bool CRC16_Verify(const uint8_t *buf, size_t len); + +} // namespace crc16 \ No newline at end of file diff --git a/src/rm_driver/rm_serial_driver/include/rm_serial_driver/protocol.hpp b/src/rm_driver/rm_serial_driver/include/rm_serial_driver/protocol.hpp new file mode 100644 index 0000000..6a202d4 --- /dev/null +++ b/src/rm_driver/rm_serial_driver/include/rm_serial_driver/protocol.hpp @@ -0,0 +1,68 @@ +#pragma once + +#define ID_MCU (0xC4) +#define ID_REF (0xA8) + +#include + +typedef struct __attribute__((packed)) +{ + struct __attribute__((packed)) + { + float q0; + float q1; + float q2; + float q3; + } quat; /* 四元数 */ + struct __attribute__((packed)) + { + float yaw; + float pit; + float rol; + } gimbal; /* 欧拉角 */ + uint8_t notice; /* 控制命令 */ +} DataMCU_t; + +typedef struct __attribute__((packed)) +{ + uint8_t id; + DataMCU_t data; + uint16_t crc16; +} PackageMCU_t; + +typedef struct __attribute__((packed)) +{ + uint16_t remain_hp; /* 剩余血量 */ + uint8_t game_progress : 4; /* 比赛进度 */ + uint16_t stage_remain_time; /* 比赛剩余时间 */ +} DataReferee_t; + +typedef struct __attribute__((packed)) +{ + uint8_t id; + DataReferee_t data; + uint16_t crc16; +} PackageReferee_t; + +typedef struct __attribute__((packed)) +{ + struct __attribute__((packed)) + { + float yaw; + float pit; + float rol; + } delta_eulr; + struct __attribute__((packed)) + { + float vx; + float vy; + float wz; + } delta_pos; + uint8_t notice; /* 控制命令 */ +} DataAI_t; + +typedef struct __attribute__((packed)) +{ + DataAI_t data; + uint16_t crc16; +} PackageAI_t; \ No newline at end of file diff --git a/src/rm_driver/rm_serial_driver/include/rm_serial_driver/rm_serial_driver.hpp b/src/rm_driver/rm_serial_driver/include/rm_serial_driver/rm_serial_driver.hpp new file mode 100644 index 0000000..de15c28 --- /dev/null +++ b/src/rm_driver/rm_serial_driver/include/rm_serial_driver/rm_serial_driver.hpp @@ -0,0 +1,42 @@ +#pragma once + +#include + +#include +#include +#include +#include +#include + +#include "rm_msgs/msg/data_mcu.hpp" +#include "rm_msgs/msg/data_ref.hpp" +#include "rm_msgs/msg/data_ai.hpp" +#include "rm_serial_driver/crc.hpp" +#include "rm_serial_driver/protocol.hpp" + +namespace rm_serial_driver +{ + + class RMSerialDriver : public rclcpp::Node + { + public: + explicit RMSerialDriver(const rclcpp::NodeOptions &options); + ~RMSerialDriver() override; + + private: + size_t get_expected_length(uint8_t id); + void process_packet(uint8_t id, const char *data, size_t packet_size); + void receive_data(); + void reopen_port(); + void data_ai_callback(const rm_msgs::msg::DataAI::SharedPtr msg); + + std::unique_ptr serial_port_; + rclcpp::Publisher::SharedPtr data_mcu_pub_; + rclcpp::Publisher::SharedPtr data_ref_pub_; + rclcpp::Subscription::SharedPtr data_ai_sub_; + std::thread read_thread_; // 串口数据读取线程 + std::atomic running_; // 原子操作: 保证多线程操作时的数据一致性 + std::string serial_buffer_; // 串口数据缓冲区 + }; + +} // namespace rm_serial_driver diff --git a/src/rm_driver/rm_serial_driver/launch/rm_serial_driver.launch.py b/src/rm_driver/rm_serial_driver/launch/rm_serial_driver.launch.py new file mode 100644 index 0000000..24c18da --- /dev/null +++ b/src/rm_driver/rm_serial_driver/launch/rm_serial_driver.launch.py @@ -0,0 +1,50 @@ +from launch import LaunchDescription +from launch_ros.actions import ComposableNodeContainer +from launch_ros.descriptions import ComposableNode +import os +from ament_index_python.packages import get_package_share_directory + +def generate_launch_description(): + pkg_share = get_package_share_directory('rm_serial_driver') + param_file = os.path.join(pkg_share, 'config', 'serial_config.yaml') + + container = ComposableNodeContainer( + name='rm_serial_container', + namespace='', + package='rclcpp_components', + executable='component_container_mt', # 多线程容器 + composable_node_descriptions=[ + ComposableNode( + package='rm_serial_driver', + plugin='rm_serial_driver::RMSerialDriver', + name='rm_serial_driver_1', + parameters=[{ + 'device_name': '/dev/ttyACM0', + 'baud_rate': 115200, + 'topic_prefix': 'gimbal_left' + }] + ), + ComposableNode( + package='rm_serial_driver', + plugin='rm_serial_driver::RMSerialDriver', + name='rm_serial_driver_2', + parameters=[{ + 'device_name': '/dev/ttyACM1', + 'baud_rate': 115200, + 'topic_prefix': 'chassis' + }] + ), + ComposableNode( + package='rm_serial_driver', + plugin='rm_serial_driver::RMSerialDriver', + name='rm_serial_driver_3', + parameters=[{ + 'device_name': '/dev/ttyACM3', + 'baud_rate': 115200, + 'topic_prefix': 'gimbal_right' + }] + ) + ], + output='screen' + ) + return LaunchDescription([container]) \ No newline at end of file diff --git a/src/rm_driver/rm_serial_driver/package.xml b/src/rm_driver/rm_serial_driver/package.xml new file mode 100644 index 0000000..2696010 --- /dev/null +++ b/src/rm_driver/rm_serial_driver/package.xml @@ -0,0 +1,18 @@ + + rm_serial_driver + 0.0.0 + ROS2 Humble Serial Driver + Your Name + Apache-2.0 + + ament_cmake + geometry_msgs + rclcpp + std_msgs + serial + rm_msgs + + + ament_cmake + + \ No newline at end of file diff --git a/src/rm_driver/rm_serial_driver/src/crc.cpp b/src/rm_driver/rm_serial_driver/src/crc.cpp new file mode 100644 index 0000000..582c9d2 --- /dev/null +++ b/src/rm_driver/rm_serial_driver/src/crc.cpp @@ -0,0 +1,72 @@ +#include "rm_serial_driver/crc.hpp" + +namespace crc16 { + +static const uint16_t crc16_tab[256] = { + 0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48, 0x9dc1, 0xaf5a, 0xbed3, + 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, + 0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, 0x308b, 0x0210, 0x1399, + 0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5, + 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c, 0xbdcb, 0xac42, 0x9ed9, 0x8f50, + 0xfbef, 0xea66, 0xd8fd, 0xc974, 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb, + 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 0x5285, 0x430c, 0x7197, 0x601e, + 0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, + 0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5, + 0xa96a, 0xb8e3, 0x8a78, 0x9bf1, 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738, + 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693, + 0xc22c, 0xd3a5, 0xe13e, 0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff, + 0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1, 0x0948, 0x3bd3, 0x2a5a, + 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5, + 0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 0xb58b, 0xa402, 0x9699, 0x8710, + 0xf3af, 0xe226, 0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c, + 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df, + 0x0c60, 0x1de9, 0x2f72, 0x3efb, 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232, + 0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, 0xe70e, 0xf687, 0xc41c, 0xd595, + 0xa12a, 0xb0a3, 0x8238, 0x93b1, 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9, + 0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c, + 0x3de3, 0x2c6a, 0x1ef1, 0x0f78}; + +/** + * @brief 处理一个字节的数据，更新 CRC：CRC16-CCITT + * @param crc 初始值 + * @param data 当前字节数据 + * @return uint16_t 更新后的 CRC 值 + */ +static inline uint16_t CRC16_Byte(uint16_t crc, const uint8_t data) +{ + return (crc >> 8) ^ crc16_tab[(crc ^ data) & 0xff]; +} + +/** + * @brief 计算 CRC：CRC16-CCITT + * @param buf 数据缓冲区 + * @param len 数据长度 + * @param crc 初始值 + * @return + */ +uint16_t CRC16_Calc(const uint8_t *buf, size_t len, uint16_t crc) +{ + while (len--) + { + crc = CRC16_Byte(crc, *buf++); + } + return crc; +} + +/** + * @brief 验证 CRC：CRC16-CCITT + * @param buf 数据缓冲区 + * @param len 数据长度 + * @return + */ +bool CRC16_Verify(const uint8_t *buf, size_t len) +{ + if (len < sizeof(uint16_t)) + return false; + + uint16_t expected = CRC16_Calc(buf, len - sizeof(uint16_t), CRC16_INIT); + auto ptr = reinterpret_cast(buf + (len % 2)); + return expected == ptr[len / sizeof(uint16_t) - 1]; +} + +} // namespace crc16 \ No newline at end of file diff --git a/src/rm_driver/rm_serial_driver/src/rm_serial_driver.cpp b/src/rm_driver/rm_serial_driver/src/rm_serial_driver.cpp new file mode 100644 index 0000000..dd4acee --- /dev/null +++ b/src/rm_driver/rm_serial_driver/src/rm_serial_driver.cpp @@ -0,0 +1,209 @@ +#include "rm_serial_driver/rm_serial_driver.hpp" + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace rm_serial_driver +{ + + /** + * @brief 构造函数：初始化节点，打开串口，创建发布者和订阅者，启动数据接收线程，打印启动信息 + * @param options + */ + RMSerialDriver::RMSerialDriver(const rclcpp::NodeOptions &options) + : Node("rm_serial_driver", options), running_(true) + { + std::string device = this->declare_parameter("device_name", std::string("/dev/ttyACM0")); + int baud = this->declare_parameter("baud_rate", 115200); + std::string topic_prefix = this->declare_parameter("topic_prefix", std::string("serial")); + + serial_port_ = + std::make_unique(device, baud, serial::Timeout::simpleTimeout(1000)); + data_mcu_pub_ = this->create_publisher(topic_prefix + "/data_mcu", 10); + data_ref_pub_ = this->create_publisher(topic_prefix + "/data_ref", 10); + data_ai_sub_ = this->create_subscription( + topic_prefix + "/data_ai", 10, std::bind(&RMSerialDriver::data_ai_callback, this, std::placeholders::_1)); // 新增订阅者 + read_thread_ = std::thread(&RMSerialDriver::receive_data, this); + RCLCPP_INFO(get_logger(), "RM 启动！！！"); + } + + /** + * @brief 析构函数：关闭串口，等待数据接收线程结束 + */ + RMSerialDriver::~RMSerialDriver() + { + running_.store(false); + if (read_thread_.joinable()) + { + read_thread_.join(); + } + if (serial_port_->isOpen()) + { + serial_port_->close(); + } + } + + /** + * @brief AI 数据回调函数 + * @param msg + */ + void RMSerialDriver::data_ai_callback(const rm_msgs::msg::DataAI::SharedPtr msg) + { + PackageAI_t package; + std::memcpy(&package.data, msg.get(), sizeof(DataAI_t)); + package.crc16 = crc16::CRC16_Calc(reinterpret_cast(&package.data), sizeof(DataAI_t), CRC16_INIT); + serial_port_->write(reinterpret_cast(&package), sizeof(PackageAI_t)); + } + + /** + * @brief 获取期望的数据包长度 + * @param id + * @return + */ + size_t RMSerialDriver::get_expected_length(uint8_t id) + { + if (id == ID_MCU) + return sizeof(PackageMCU_t); + else if (id == ID_REF) + return sizeof(PackageReferee_t); + return 0; + } + + /** + * @brief 处理接收到的数据包 + * @param id + * @param data + * @param packet_size + */ + void RMSerialDriver::process_packet(uint8_t id, const char *data, size_t packet_size) + { + if (id == ID_MCU) + { + PackageMCU_t mcu; + std::memcpy(&mcu, data, packet_size); // 将 data 拷贝到 mcu 中 + if (crc16::CRC16_Verify(reinterpret_cast(&mcu) + 1, packet_size - 1)) + { + rm_msgs::msg::DataMCU msg; + std::memcpy(&msg, &mcu.data, sizeof(mcu.data)); // 将数据拷贝到 msg 中 + data_mcu_pub_->publish(msg); + } + else + { + RCLCPP_ERROR(get_logger(), "CRC 校验失败(MCU)"); + } + } + else if (id == ID_REF) + { + PackageReferee_t ref; + std::memcpy(&ref, data, packet_size); + if (crc16::CRC16_Verify(reinterpret_cast(&ref) + 1, packet_size - 1)) + { + rm_msgs::msg::DataRef msg; + // std::memcpy(&msg, &ref.data, sizeof(ref.data)); + msg.remain_hp = ref.data.remain_hp; + msg.game_progress = ref.data.game_progress; + msg.stage_remain_time = ref.data.stage_remain_time; + data_ref_pub_->publish(msg); + } + else + { + // RCLCPP_WARN(get_logger(), "CRC 校验失败(REF)"); + } + } + else + { + // 未知 ID，丢弃该字节 + } + } + + /** + * @brief 串口数据接收线程 + * @param args 线程参数 + */ + void RMSerialDriver::receive_data() + { + while (rclcpp::ok() && running_.load()) + { + try + { + if (serial_port_->available()) + { + std::string buffer = serial_port_->read(serial_port_->available()); + serial_buffer_ += buffer; + + while (true) + { + size_t header_pos = serial_buffer_.find_first_of( + std::string() + static_cast(ID_MCU) + static_cast(ID_REF)); // 查找第一个出现的字符 + if (header_pos == std::string::npos) + { + serial_buffer_.clear(); + break; + } + if (header_pos > 0) + { + serial_buffer_.erase(0, header_pos); + } + if (serial_buffer_.empty()) + break; + + uint8_t id = static_cast(serial_buffer_[0]); + size_t expected_length = get_expected_length(id); + if (expected_length == 0) + { + serial_buffer_.erase(0, 1); + continue; + } + if (serial_buffer_.size() < expected_length) + break; + + process_packet(id, serial_buffer_.data(), expected_length); + serial_buffer_.erase(0, expected_length); + } + } + } + catch (const std::exception &ex) + { + reopen_port(); + } + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + } + + /** + * @brief 重启串口 + * @note 当串口意外关闭时，尝试重新打开串口 + */ + void RMSerialDriver::reopen_port() + { + if (serial_port_->isOpen()) + { + serial_port_->close(); + } + + bool port_opened = false; + while (!port_opened && rclcpp::ok()) + { + try + { + RCLCPP_WARN(get_logger(), "串口意外关闭，正在尝试重新打开..."); + serial_port_->open(); + port_opened = true; + } + catch (const std::exception &ex) + { + std::this_thread::sleep_for(std::chrono::seconds(1)); + } + } + } + +} // namespace rm_serial_driver + +#include "rclcpp_components/register_node_macro.hpp" +RCLCPP_COMPONENTS_REGISTER_NODE(rm_serial_driver::RMSerialDriver) \ No newline at end of file diff --git a/src/rm_msg/CMakeLists.txt b/src/rm_msg/CMakeLists.txt new file mode 100644 index 0000000..21da4e1 --- /dev/null +++ b/src/rm_msg/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 3.8) +project(rm_msgs) + +find_package(rosidl_default_generators REQUIRED) +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/DataMCU.msg" + "msg/DataRef.msg" + "msg/DataAI.msg" + "msg/Ps2Data.msg" + "msg/MoveGoal.msg" + "msg/DataNav.msg" +) + +ament_package() + diff --git a/src/rm_msg/LICENSE b/src/rm_msg/LICENSE new file mode 100644 index 0000000..cb386d0 --- /dev/null +++ b/src/rm_msg/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2025 zucheng Lv + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/src/rm_msg/README.md b/src/rm_msg/README.md new file mode 100644 index 0000000..d7eb0ee --- /dev/null +++ b/src/rm_msg/README.md @@ -0,0 +1,6 @@ +# rm_msg +Some ROS 2 custom messages for Robotaster + +Usage +Modify or add files in the /msg directory as needed +colcon build \ No newline at end of file diff --git a/src/rm_msg/msg/DataAI.msg b/src/rm_msg/msg/DataAI.msg new file mode 100644 index 0000000..69ce453 --- /dev/null +++ b/src/rm_msg/msg/DataAI.msg @@ -0,0 +1,7 @@ +float32 yaw +float32 pit +float32 rol +float32 vx +float32 vy +float32 wz +uint8 notice diff --git a/src/rm_msg/msg/DataMCU.msg b/src/rm_msg/msg/DataMCU.msg new file mode 100644 index 0000000..d3351fd --- /dev/null +++ b/src/rm_msg/msg/DataMCU.msg @@ -0,0 +1,8 @@ +float32 q0 +float32 q1 +float32 q2 +float32 q3 +float32 yaw +float32 pit +float32 rol +uint8 notice \ No newline at end of file diff --git a/src/rm_msg/msg/DataNav.msg b/src/rm_msg/msg/DataNav.msg new file mode 100644 index 0000000..f7c39af --- /dev/null +++ b/src/rm_msg/msg/DataNav.msg @@ -0,0 +1,5 @@ +bool reached + +float32 x +float32 y +float32 yaw \ No newline at end of file diff --git a/src/rm_msg/msg/DataRef.msg b/src/rm_msg/msg/DataRef.msg new file mode 100644 index 0000000..181dd7f --- /dev/null +++ b/src/rm_msg/msg/DataRef.msg @@ -0,0 +1,3 @@ +uint16 remain_hp +uint8 game_progress +uint16 stage_remain_time \ No newline at end of file diff --git a/src/rm_msg/msg/MoveGoal.msg b/src/rm_msg/msg/MoveGoal.msg new file mode 100644 index 0000000..e795227 --- /dev/null +++ b/src/rm_msg/msg/MoveGoal.msg @@ -0,0 +1,6 @@ +float32 x +float32 y +float32 angle +float32 max_speed +float32 tolerance +bool rotor \ No newline at end of file diff --git a/src/rm_msg/msg/Ps2Data.msg b/src/rm_msg/msg/Ps2Data.msg new file mode 100644 index 0000000..2b52c1c --- /dev/null +++ b/src/rm_msg/msg/Ps2Data.msg @@ -0,0 +1,20 @@ +# control input message +float32 lx +float32 ly +float32 rx +float32 ry + +float32 up_down +float32 left_right + +bool l1 +bool l2 +bool r1 +bool r2 + +# 四种模式 +uint8 mode # 0:手柄控制 1:键盘控制 2:自瞄 3:手动瞄准 + +bool select +bool start + diff --git a/src/rm_msg/package.xml b/src/rm_msg/package.xml new file mode 100644 index 0000000..cdfd921 --- /dev/null +++ b/src/rm_msg/package.xml @@ -0,0 +1,16 @@ + + + rm_msgs + 0.0.1 + Describe custom messages + biao + MIT + + rosidl_default_generators + rosidl_default_runtime + rosidl_interface_packages + + + ament_cmake + + \ No newline at end of file diff --git a/src/rm_nav/README.md b/src/rm_nav/README.md new file mode 100644 index 0000000..4c0864b --- /dev/null +++ b/src/rm_nav/README.md @@ -0,0 +1,250 @@ +# PB_RM_Simulation + +深圳北理莫斯科大学 北极熊战队 哨兵导航仿真/实车包 + +## 一. 项目介绍 + +本项目使用全向移动小车，附加 Livox Mid360 雷达与 IMU，在 RMUC/RMUL 地图进行导航算法仿真，仅需要调整参数即可移植到真实机器人中导航。 + +早期功能演示视频：[寒假在家，怎么调车！？更适合新手宝宝的 RM 导航仿真](https://b23.tv/xSNQGmb) + +|Gazebo 仿真|Fast_LIO/Point_LIO + Navigation2| +|:-:|:-:| +|![Gazebo 仿真](.docs/gazebo_RMUL.png)|![Fast_LIO/Point_LIO + Navigation2](.docs/FAST_LIO+Nav2.png)| + +|动态避障| +|:-:| +|![Gazebo 仿真](.docs/2024.5.11RMUL动态避障2.gif)| + +|一键偷家| +|:-:| +|![Gazebo 仿真](.docs/2024.5.11RMUC轨迹跟踪一键偷家.gif)| + +### 1.1 rm_simulation 话题接口 + +| **Topic name** | **Type** | **Note** | +|:-------------------:|:-------------------------------:|:--------------------------------:| +| /livox/lidar | livox_ros_driver2/msg/CustomMsg | Mid360 自定义消息类型 | +| /livox/lidar/pointcloud | sensor_msgs/msg/PointCloud2 | ROS2 点云消息类型 | +| /livox/imu | sensor_msgs/msg/Imu | Gazebo 插件仿真 IMU | +| /cmd_vel | geometry_msgs/msg/Twist | 全向小车运动控制接口 | + +### 1.2 整体框图 + +![功能包流程图](.docs/功能包流程图.png) + +## 二. 环境配置 + +当前开发环境为 Ubuntu22.04, ROS2 humble, Gazebo Classic 11.10.0 + +### 方式一：使用 Docker + +本项目已配置基础 Dockerfile，并可使用 [Dev Container](https://containers.dev/) 进行仿真测试和开发。 + +> DevContainer 的一个特征是将代码的运行环境与代码本身完全隔离开来，在效果上类似将 workspace 挂载到了容器中。 +> 在 Docker-image 中仅仅包含有关系统的配置（例如修改 .baserc 或安装依赖包等），其本身不存储任何项目代码和工作空间，做到了代码与环境的完全隔离。 +> 可以通过 devcontainer.json 配置文件，快速修改和分发容器配置。 +> 与 VSCode 深度融合，一键启动，无需任何命令。 + +镜像仓库地址：[DockerHub: lihanchen2004/pb_rm_simulation](https://hub.docker.com/repository/docker/lihanchen2004/pb_rm_simulation) + +1. 安装 Docker + +2. 拉取镜像 + + ```sh + docker pull lihanchen2004/pb_rm_simulation:1.0.0 + ``` + +3. 在宿主机 VSCode 中 安装 `ms-vscode-remote.remote-containers` 插件 + +4. 快捷键 `Ctrl+Shift+P`， 输入并点击 `Dev Containers:Rebuild and Reopen in Container` + +### 方式二：源码安装 + +1. 克隆仓库 + + ```sh + git clone --recursive https://gitee.com/SMBU-POLARBEAR/pb_rmsimulation --depth=1 + ``` + +2. 安装 [Livox SDK2](https://github.com/Livox-SDK/Livox-SDK2) + + ```sh + sudo apt install cmake + ``` + + ```sh + git clone https://github.com/Livox-SDK/Livox-SDK2.git + cd ./Livox-SDK2/ + mkdir build + cd build + cmake .. && make -j + sudo make install + ``` + +3. 安装依赖 + + ```sh + cd pb_rm_simulation + + rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y + ``` + +4. 编译 + + ```sh + colcon build --symlink-install + ``` + +## 三. 运行 + +### 3.1 可选参数 + +1. `world`: + + - 仿真模式 + - `RMUL` - [2024 Robomaster 3V3 场地](https://bbs.robomaster.com/forum.php?mod=viewthread&tid=22942&extra=page%3D1) + - `RMUC` - [2024 Robomaster 7V7 场地](https://bbs.robomaster.com/forum.php?mod=viewthread&tid=22942&extra=page%3D1) + + - 真实环境 + - 自定，world 等价于 `.pcd(ICP使用的点云图)` 文件和 `.yaml(Nav使用的栅格地图)` 的名称 + +2. `mode`: + - `mapping` - 边建图边导航 + - `nav` - 已知全局地图导航 + +3. `lio`: + - `fastlio` - 使用 [Fast_LIO](https://github.com/LihanChen2004/FAST_LIO/tree/ROS2)，里程计约 10Hz + - `pointlio` - 使用 [Point_LIO](https://github.com/LihanChen2004/Point-LIO/tree/RM2024_SMBU_auto_sentry)，可以输出100+Hz的Odometry，对导航更友好，但相对的，CPU占用会更高 + +4. `localization` (仅 `mode:=nav` 时本参数有效) + - `slam_toolbox` - 使用 [slam_toolbox](https://github.com/SteveMacenski/slam_toolbox) localization 模式定位，动态场景中效果更好 + - `amcl` - 使用 [AMCL](https://navigation.ros.org/configuration/packages/configuring-amcl.html) 经典算法定位 + - `icp` - 使用 [icp_registration](https://github.com/baiyeweiguang/CSU-RM-Sentry/tree/main/src/rm_localization/icp_registration)，仅在第一次启动或者手动设置 /initialpose 时进行点云配准。获得初始位姿后只依赖 LIO 进行定位，没有回环检测，在长时间运行后可能会出现累积误差。 + + Tips: + 1. 若使用 AMCL 算法定位时，启动后需要在 rviz2 中手动给定初始位姿。 + 2. 若使用 slam_toolbox 定位，需要提供 .posegraph 地图，详见 [如何保存 .pgm 和 .posegraph 地图？](https://gitee.com/SMBU-POLARBEAR/pb_rmsimulation/issues/I9427I) + 3. 若使用 ICP_Localization 定位，需要提供 .pcd 点云图 + +5. `lio_rviz`: + - `True` - 可视化 FAST_LIO 或 Point_LIO 的点云图 + +6. `nav_rviz`: + - `True` - 可视化 navigation2 + +### 3.2 仿真模式示例 + +- 边建图边导航 + + ```sh + ros2 launch rm_nav_bringup bringup_sim.launch.py \ + world:=RMUL \ + mode:=mapping \ + lio:=fastlio \ + lio_rviz:=False \ + nav_rviz:=True + ``` + +- 已知全局地图导航 + + ```sh + ros2 launch rm_nav_bringup bringup_sim.launch.py \ + world:=RMUL \ + mode:=nav \ + lio:=fastlio \ + localization:=slam_toolbox \ + lio_rviz:=False \ + nav_rviz:=True + ``` + +### 3.3 真实模式示例 + +- 边建图边导航 + + ```sh + ros2 launch rm_nav_bringup bringup_real.launch.py \ + world:=C \ + mode:=mapping \ + lio:=fastlio \ + lio_rviz:=False \ + nav_rviz:=True + ``` + + Tips: + + 1. 保存点云 pcd 文件：需先在 [fastlio_mid360.yaml](src/rm_nav_bringup/config/reality/fastlio_mid360_real.yaml) 中 将 `pcd_save_en` 改为 `true`，并设置 .pcd 文件的路径，运行时新开终端输入命令 `ros2 service call /map_save std_srvs/srv/Trigger`，即可保存点云文件。 + 2. 保存地图：请参考 [如何保存 .pgm 和 .posegraph 地图？](https://gitee.com/SMBU-POLARBEAR/pb_rmsimulation/issues/I9427I)。地图名需要与 `YOUR_WORLD_NAME` 保持一致。 + +- 已知全局地图导航 + + ```sh + ros2 launch rm_nav_bringup bringup_real.launch.py \ + world:=C \ + mode:=nav \ + lio:=fastlio \ + localization:=icp \ + lio_rviz:=false \ + nav_rviz:=false + ``` + + Tips: 栅格地图文件和 pcd 文件需具为相同名称，分别存放在 `src/rm_nav_bringup/map` 和 `src/rm_nav_bringup/PCD` 中，启动导航时 world 指定为文件名前缀即可。 + +### 3.4 小工具 - 键盘控制 + +```sh +ros2 run teleop_twist_keyboard teleop_twist_keyboard +``` + +## 四. 实车适配关键参数 + +1. 雷达 ip + + 本导航包已内置 [livox_ros_driver2](https://gitee.com/SMBU-POLARBEAR/livox_ros_driver2_humble)，可直接修改 [MID360_config.json](./src/rm_nav_bringup/config/reality/MID360_config.json) - `lidar_configs` - `ip` + +2. 测量机器人底盘正中心到雷达的相对坐标 + + x, y 距离比较重要，将影响云台旋转时解算到 base_link 的坐标准确性 + + 填入 [measurement_params_real.yaml](./src/rm_nav_bringup/config/reality/measurement_params_real.yaml) + + 若雷达倾斜放置，无需在此处填入 rpy，而是将点云旋转角度填入 [MID360_config.json](./src/rm_nav_bringup/config/reality/MID360_config.json) - `extrinsic_parameter` + +3. 测量雷达与地面的垂直距离 + + 此参数影响点云分割效果 + + 填入 [segmentation_real.yaml](./src/rm_nav_bringup/config/reality/segmentation_real.yaml) - `sensor_height` + +4. nav2_params + + 参数很多，比较重要的是 robot_radius 和 速度相关参数。详见 [nav2官方文档](https://docs.nav2.org/) + +## 后记 + +> 这个仿真包也是我学习的一个记录，也是我学习的一个起点。 + +很难想象一年前的五月，我连 Ubuntu 和 ROS 是都不知道。笔者大一时只是个混子，北极熊第一届视觉组成员（其实啥也没干），但误打误撞去了 2023 联盟赛广东站赛场。当时只是作为一个观众+摄影师，但赛场的氛围是无以言表的，回来后 RM 浓度就开始逐渐增高，尝试部署华师2023的视觉开源，也在这段时间逐渐学会了自学的方式，写下了第一篇 [算法组文档](https://flowus.cn/lihanchen/facb28a9-5d34-42a7-9bc8-630a182c3571) 。 + +暑假时参加了“快递速达”的支线任务（比赛），那是第一次初识导航，还记得举着电脑拿着2D雷达在实验楼建图的喜悦。后来被春茧里华农的“自动驾驶”哨兵震撼到了，于是乎大二上和“实验楼安家组”出去喝粥路上，队长问我 24 赛季你想做啥，我毫不犹豫的答出了“导航”。 + +抱着玩一玩练练手的心态创建了本仓库，第一个 [commit](https://gitee.com/SMBU-POLARBEAR/pb_rmsimulation/commit/a3e475ce59c60d68462e4555a76113e4ba1295f1) 在 2023-09-27，当时借鉴的还是 [华农 2023 RMUL 哨兵导航开源包](https://github.com/SCAU-RM-NAV/rm2023_auto_sentry_ws) 和 [湖工大RMUC地图](https://github.com/HBUTHUANGPX/Hbut_LC_sentry)，在此基础上只是加了 mid360 的仿真。后来 2023.10 月 中南大学 FYT 战队开源了[RM 哨兵上位机算法](https://github.com/baiyeweiguang/CSU-RM-Sentry)，是当时少见的 ROS2 nav2 导航框架，于是乎当时就想着缝进初代导航包（直到现在也是中南 FYT 的模样）。在不断尝试新算法的过程中，对 Gazebo 和 ros2_launch 也有了更深入的了解。 + +如果没有开发这个仿真包，我可能也不会有机会接触到导航算法，也不会有机会接触到这么多优秀的开源项目。我还记得那是 2023.1.26，在港中深的哨兵上部署了我的仿真包（ RMUC 联队），改改 launch 文件居然就能让实车动起来了，意料之外地实现了 Sim2Real。由于学校没有机械专业，哨兵在联盟赛前不到两周才完全出生，于是乎备赛期间一直都是在赛博调车优化。 + +上赛场了，从观众席到检录区。但当时由于在仿真中忽略了雷达偏心放置时的 tf 问题，导致实车云台旋转时定位不准，最终也没能在 RMUL 中发挥丝滑的导航走位...挺遗憾的。 + +鄙人非大佬，只是个缝合怪菜鸡。我的学习路径个人觉得是有点畸形的，并不是自下而上地先学理论再实践，而是自上而下地先实践再不断补理论的坑。但这种学习方式也不断地给我正反馈，梦里都在改代码，每天醒来都有盼头。 + +## 致谢（不分先后） + +Mid360 点云仿真：参考了 [livox_laser_simulation](https://github.com/Livox-SDK/livox_laser_simulation/blob/main/src/livox_points_plugin.cpp)、 [livox_laser_simulation_RO2](https://github.com/stm32f303ret6/livox_laser_simulation_RO2/blob/main/src/livox_points_plugin.cpp)、 [Issue15: CustomMsg](https://github.com/Livox-SDK/livox_laser_simulation/issues/15)。 + +导航算法框架：基于 [中南大学 FYT 战队 RM 哨兵上位机算法](https://github.com/baiyeweiguang/CSU-RM-Sentry) 修改并适配仿真，在原有基础上添加对 base_link 的建模，提供多种可选定位方式并完善 launch 文件。 + +感谢深技大 Shockley，对雷达跟随云台旋转时的速度变换问题提供了很好的解决思路，从而有了 [fake_vel_transform](./src/rm_navigation/fake_vel_transform/) 功能包。 + +感谢上海工程技术大学、辽宁科技大学、上海电力大学对本开源包的深度使用与交流，给了我很多优化方向。 + +还有很多很多很多 RM 网友给了我很多鼓励和帮助，这里就不一一列举了（已达成龙王结局，QQ 里 RM 分组九十多人）。 diff --git a/src/rm_nav/pcdtopgm.py b/src/rm_nav/pcdtopgm.py new file mode 100644 index 0000000..8c7f0bc --- /dev/null +++ b/src/rm_nav/pcdtopgm.py @@ -0,0 +1,55 @@ +import open3d as o3d +import numpy as np +import cv2 +import yaml + +def pcd_to_pgm(pcd_file, pgm_file, yaml_file): + # 读取PCD文件 + pcd = o3d.io.read_point_cloud(pcd_file) + points = np.asarray(pcd.points) + + # 获取点云的边界 + min_bound = np.min(points, axis=0) + max_bound = np.max(points, axis=0) + + # 计算图像的尺寸 + resolution = 0.05 # 分辨率，单位：米 + width = int((max_bound[0] - min_bound[0]) / resolution) + height = int((max_bound[1] - min_bound[1]) / resolution) + + # 创建空白图像 + image = np.ones((height, width), dtype=np.uint8) * 255 + + # 将点云投影到图像平面 + for point in points: + x = int((point[0] - min_bound[0]) / resolution) + y = int((point[1] - min_bound[1]) / resolution) + if 0 <= x < width and 0 <= y < height: + image[height - y - 1, x] = 0 + + # 保存PGM文件 + cv2.imwrite(pgm_file, image) + + # 生成YAML文件 + yaml_data = { + 'image': pgm_file, + 'resolution': resolution, + 'origin': [float(min_bound[0]), float(min_bound[1]), 0.0], + 'negate': 0, + 'occupied_thresh': 0.65, + 'free_thresh': 0.196 + } + + with open(yaml_file, 'w') as yaml_file: + yaml.dump(yaml_data, yaml_file, default_flow_style=False) + +if __name__ == "__main__": + import argparse + + parser = argparse.ArgumentParser(description="Convert PCD to PGM and generate YAML") + parser.add_argument("pcd_file", help="Input PCD file") + parser.add_argument("pgm_file", help="Output PGM file") + parser.add_argument("yaml_file", help="Output YAML file") + args = parser.parse_args() + + pcd_to_pgm(args.pcd_file, args.pgm_file, args.yaml_file) \ No newline at end of file diff --git a/src/rm_nav/rm_localization/FAST_LIO/.github/stale.yml b/src/rm_nav/rm_localization/FAST_LIO/.github/stale.yml new file mode 100644 index 0000000..4d545fe --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/.github/stale.yml @@ -0,0 +1,17 @@ +# Number of days of inactivity before an issue becomes stale +daysUntilStale: 21 +# Number of days of inactivity before a stale issue is closed +daysUntilClose: 1 +# Issues with these labels will never be considered stale +exemptLabels: + - pinned + - security +# Label to use when marking an issue as stale +staleLabel: stale +# Comment to post when marking an issue as stale. Set to `false` to disable +markComment: > + This issue has been automatically marked as stale because it has not had + recent activity. It will be closed if no further activity occurs. Thank you + for your contributions. +# Comment to post when closing a stale issue. Set to `false` to disable +closeComment: false diff --git a/src/rm_nav/rm_localization/FAST_LIO/.gitignore b/src/rm_nav/rm_localization/FAST_LIO/.gitignore new file mode 100644 index 0000000..eb7be62 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/.gitignore @@ -0,0 +1,8 @@ +build +Log/*.png +Log/*.txt +Log/*.csv +Log/*.pdf +.vscode/c_cpp_properties.json +.vscode/settings.json +PCD/*.pcd diff --git a/src/rm_nav/rm_localization/FAST_LIO/.gitmodules b/src/rm_nav/rm_localization/FAST_LIO/.gitmodules new file mode 100644 index 0000000..b8a0efa --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/.gitmodules @@ -0,0 +1,4 @@ +[submodule "include/ikd-Tree"] + path = include/ikd-Tree + url = https://github.com/hku-mars/ikd-Tree.git + branch = fast_lio diff --git a/src/rm_nav/rm_localization/FAST_LIO/CMakeLists.txt b/src/rm_nav/rm_localization/FAST_LIO/CMakeLists.txt new file mode 100644 index 0000000..306cd9b --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/CMakeLists.txt @@ -0,0 +1,125 @@ +cmake_minimum_required(VERSION 3.8) +project(fast_lio) + +if(NOT CMAKE_BUILD_TYPE) + set(CMAKE_BUILD_TYPE Release) +endif() + +if(POLICY CMP0074) + cmake_policy(SET CMP0074 NEW) +endif() + +ADD_COMPILE_OPTIONS(-std=c++14) +ADD_COMPILE_OPTIONS(-std=c++14) +set(CMAKE_CXX_FLAGS "-std=c++14 -O3") + +add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\") + +set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions") +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) +set(CMAKE_CXX_EXTENSIONS OFF) +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread -std=c++0x -std=c++14 -fexceptions") +set(CMAKE_POSITION_INDEPENDENT_CODE ON) + + +if(CMAKE_SYSTEM_PROCESSOR MATCHES "(x86)|(X86)|(amd64)|(AMD64)") + include(ProcessorCount) + ProcessorCount(N) + + if(N GREATER 4) + add_definitions(-DMP_EN) + add_definitions(-DMP_PROC_NUM=3) + elseif(N GREATER 3) + add_definitions(-DMP_EN) + add_definitions(-DMP_PROC_NUM=2) + else() + add_definitions(-DMP_PROC_NUM=1) + endif() +else() + add_definitions(-DMP_PROC_NUM=1) +endif() + +find_package(OpenMP QUIET) +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") +set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}") + +find_package(PythonLibs REQUIRED) +find_path(MATPLOTLIB_CPP_INCLUDE_DIRS "matplotlibcpp.h") + +# ROS dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(rclcpp_components REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(std_msgs REQUIRED) +find_package(std_srvs REQUIRED) +find_package(visualization_msgs REQUIRED) +find_package(pcl_ros REQUIRED) +find_package(pcl_conversions REQUIRED) +find_package(livox_ros_driver2 REQUIRED) +find_package(rosidl_default_generators REQUIRED) + +set(dependencies + rclcpp + rclcpp_components + geometry_msgs + nav_msgs + sensor_msgs + std_msgs + std_srvs + visualization_msgs + pcl_ros + pcl_conversions + livox_ros_driver2 +) + +# Thirdparty libraries +find_package(Eigen3 REQUIRED) +find_package(PCL REQUIRED COMPONENTS common io) + +set(msg_files + "msg/Pose6D.msg" +) + +rosidl_generate_interfaces(${PROJECT_NAME} + ${msg_files} +) +ament_export_dependencies(rosidl_default_runtime) + +add_executable(fastlio_mapping src/laserMapping.cpp include/ikd-Tree/ikd_Tree.cpp src/preprocess.cpp) +target_include_directories(fastlio_mapping PUBLIC + $ + $ + ${PCL_INCLUDE_DIRS} +) +target_link_libraries(fastlio_mapping ${PCL_LIBRARIES} ${PYTHON_LIBRARIES} Eigen3::Eigen) +target_include_directories(fastlio_mapping PRIVATE ${PYTHON_INCLUDE_DIRS}) + +list(APPEND EOL_LIST "foxy" "galactic" "eloquent" "dashing" "crystal") + +if($ENV{ROS_DISTRO} IN_LIST EOL_LIST) + # Custommsg to support foxy & galactic + rosidl_target_interfaces(fastlio_mapping + ${PROJECT_NAME} "rosidl_typesupport_cpp") +else() + rosidl_get_typesupport_target(cpp_typesupport_target + ${PROJECT_NAME} "rosidl_typesupport_cpp") + target_link_libraries(fastlio_mapping ${cpp_typesupport_target}) +endif() + +ament_target_dependencies(fastlio_mapping ${dependencies}) + +# ---------------- Install --------------- # +install(TARGETS fastlio_mapping + DESTINATION lib/${PROJECT_NAME} +) + +install( + DIRECTORY config launch rviz + DESTINATION share/${PROJECT_NAME} +) + +ament_package() \ No newline at end of file diff --git a/src/rm_nav/rm_localization/FAST_LIO/LICENSE b/src/rm_nav/rm_localization/FAST_LIO/LICENSE new file mode 100644 index 0000000..d159169 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/LICENSE @@ -0,0 +1,339 @@ + GNU GENERAL PUBLIC LICENSE + Version 2, June 1991 + + Copyright (C) 1989, 1991 Free Software Foundation, Inc., + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The licenses for most software are designed to take away your +freedom to share and change it. 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Of course, the commands you use may +be called something other than `show w' and `show c'; they could even be +mouse-clicks or menu items--whatever suits your program. + +You should also get your employer (if you work as a programmer) or your +school, if any, to sign a "copyright disclaimer" for the program, if +necessary. Here is a sample; alter the names: + + Yoyodyne, Inc., hereby disclaims all copyright interest in the program + `Gnomovision' (which makes passes at compilers) written by James Hacker. + + , 1 April 1989 + Ty Coon, President of Vice + +This General Public License does not permit incorporating your program into +proprietary programs. If your program is a subroutine library, you may +consider it more useful to permit linking proprietary applications with the +library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. diff --git a/src/rm_nav/rm_localization/FAST_LIO/Log/fast_lio_time_log_analysis.m b/src/rm_nav/rm_localization/FAST_LIO/Log/fast_lio_time_log_analysis.m new file mode 100644 index 0000000..8a0b679 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/Log/fast_lio_time_log_analysis.m @@ -0,0 +1,135 @@ +clear +close all + +Color_red = [0.6350 0.0780 0.1840]; +Color_blue = [0 0.4470 0.7410]; +Color_orange = [0.8500 0.3250 0.0980]; +Color_green = [0.4660 0.6740 0.1880]; +Color_lightblue = [0.3010 0.7450 0.9330]; +Color_purple = [0.4940 0.1840 0.5560]; +Color_yellow = [0.9290 0.6940 0.1250]; + +fast_lio_ikdtree = csvread("./fast_lio_time_log.csv",1,0); +timestamp_ikd = fast_lio_ikdtree(:,1); +timestamp_ikd = timestamp_ikd - min(timestamp_ikd); +total_time_ikd = fast_lio_ikdtree(:,2)*1e3; +scan_num = fast_lio_ikdtree(:,3); +incremental_time_ikd = fast_lio_ikdtree(:,4)*1e3; +search_time_ikd = fast_lio_ikdtree(:,5)*1e3; +delete_size_ikd = fast_lio_ikdtree(:,6); +delete_time_ikd = fast_lio_ikdtree(:,7) * 1e3; +tree_size_ikd_st = fast_lio_ikdtree(:,8); +tree_size_ikd = fast_lio_ikdtree(:,9); +add_points = fast_lio_ikdtree(:,10); + +fast_lio_forest = csvread("fast_lio_time_log.csv",1,0); +fov_check_time_forest = fast_lio_forest(:,5)*1e3; +average_time_forest = fast_lio_forest(:,2)*1e3; +total_time_forest = fast_lio_forest(:,6)*1e3; +incremental_time_forest = fast_lio_forest(:,3)*1e3; +search_time_forest = fast_lio_forest(:,4)*1e3; +timestamp_forest = fast_lio_forest(:,1); + +% Use slide window to calculate average +L = 1; % Length of slide window +for i = 1:length(timestamp_ikd) + if (i 0); +search_time_ikd = search_time_ikd(index_ikd); +index_forest = find(search_time_forest > 0); +search_time_forest = search_time_forest(index_forest); + +t = nexttile; +hold on; +boxplot_data_ikd = [incremental_time_ikd,total_time_ikd]; +boxplot_data_forest = [incremental_time_forest,total_time_forest]; +Colors_ikd = [Color_blue;Color_blue;Color_blue]; +Colors_forest = [Color_orange;Color_orange;Color_orange]; +% xticks([3,8,13]) +h_search_ikd = boxplot(search_time_ikd,'Whisker',50,'Positions',1,'Colors',Color_blue,'Widths',0.3); +h_search_forest = boxplot(search_time_forest,'Whisker',50,'Positions',1.5,'Colors',Color_orange,'Widths',0.3); +h_ikd = boxplot(boxplot_data_ikd,'Whisker',50,'Positions',[3,5],'Colors',Color_blue,'Widths',0.3); +h_forest = boxplot(boxplot_data_forest,'Whisker',50,'Positions',[3.5,5.5],'Colors',Color_orange,'Widths',0.3); +ax2 = gca; +ax2.YAxis.Scale = 'log'; +xlim([0.5,6.0]) +ylim([0.0008,100]) +xticks([1.25 3.25 5.25]) +xticklabels({'Nearest Search',' Incremental Updates','Total Time'}); +yticks([1e-3,1e-2,1e-1,1e0,1e1,1e2]) +ax2.YAxis.FontSize = 12; +ax2.XAxis.FontSize = 14.5; +% ax.XAxis.FontWeight = 'bold'; +ylabel('Run Time/ms','FontSize',14,'FontName','Times New Roman') +box_vars = [findall(h_search_ikd,'Tag','Box');findall(h_ikd,'Tag','Box');findall(h_search_forest,'Tag','Box');findall(h_forest,'Tag','Box')]; +for j=1:length(box_vars) + if (j<=3) + Color = Color_blue; + else + Color = Color_orange; + end + patch(get(box_vars(j),'XData'),get(box_vars(j),'YData'),Color,'FaceAlpha',0.25,'EdgeColor',Color); +end +Lg = legend(box_vars([1,4]), {'ikd-Tree','ikd-Forest'},'Location',[0.6707 0.4305 0.265 0.07891],'fontsize',14,'fontname','Times New Roman'); +grid on +set(gca,'YMinorGrid','off') +nexttile; +hold on; +grid on; +box on; +set(gca,'FontSize',12,'FontName','Times New Roman') +plot(timestamp_ikd, alpha_bal_ikd,'-','Color',Color_blue,'LineWidth',1.2); +plot(timestamp_ikd, alpha_del_ikd,'--','Color',Color_orange, 'LineWidth', 1.2); +plot(timestamp_ikd, 0.6*ones(size(alpha_bal_ikd)), ':','Color','black','LineWidth',1.2); +lg = legend("\alpha_{bal}", "\alpha_{del}",'location',[0.7871 0.1131 0.1433 0.069],'fontsize',14,'fontname','Times New Roman') +title("Re-balancing Criterion",'FontSize',16,'FontName','Times New Roman') +xlabel("time/s",'FontSize',16,'FontName','Times New Roman') +yl = ylabel("\alpha",'FontSize',15, 'Position',[285.7 0.4250 -1]) +xlim([32,390]); +ylim([0,0.85]); +ax3 = gca; +ax3.YAxis.FontSize = 12; +ax3.XAxis.FontSize = 12; +% print('./Figures/fastlio_exp_combine','-depsc','-r1200') +% exportgraphics(f,'./Figures/fastlio_exp_combine_1.pdf','ContentType','vector') + diff --git a/src/rm_nav/rm_localization/FAST_LIO/Log/guide.md b/src/rm_nav/rm_localization/FAST_LIO/Log/guide.md new file mode 100644 index 0000000..8ff3fc1 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/Log/guide.md @@ -0,0 +1 @@ +Here saved the debug records which can be drew by the ../Log/plot.py. The record function can be found frm the MACRO: DEBUG_FILE_DIR(name) in common_lib.h. diff --git a/src/rm_nav/rm_localization/FAST_LIO/Log/plot.py b/src/rm_nav/rm_localization/FAST_LIO/Log/plot.py new file mode 100644 index 0000000..e4aad85 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/Log/plot.py @@ -0,0 +1,94 @@ +# import matplotlib +# matplotlib.use('Agg') +import numpy as np +import matplotlib.pyplot as plt + + +#######for ikfom +fig, axs = plt.subplots(4,2) +lab_pre = ['', 'pre-x', 'pre-y', 'pre-z'] +lab_out = ['', 'out-x', 'out-y', 'out-z'] +plot_ind = range(7,10) +a_pre=np.loadtxt('mat_pre.txt') +a_out=np.loadtxt('mat_out.txt') +time=a_pre[:,0] +axs[0,0].set_title('Attitude') +axs[1,0].set_title('Translation') +axs[2,0].set_title('Extrins-R') +axs[3,0].set_title('Extrins-T') +axs[0,1].set_title('Velocity') +axs[1,1].set_title('bg') +axs[2,1].set_title('ba') +axs[3,1].set_title('Gravity') +for i in range(1,4): + for j in range(8): + axs[j%4, j/4].plot(time, a_pre[:,i+j*3],'.-', label=lab_pre[i]) + axs[j%4, j/4].plot(time, a_out[:,i+j*3],'.-', label=lab_out[i]) +for j in range(8): + # axs[j].set_xlim(386,389) + axs[j%4, j/4].grid() + axs[j%4, j/4].legend() +plt.grid() +#######for ikfom####### + + +#### Draw IMU data +# fig, axs = plt.subplots(2) +# imu=np.loadtxt('imu.txt') +# time=imu[:,0] +# axs[0].set_title('Gyroscope') +# axs[1].set_title('Accelerameter') +# lab_1 = ['gyr-x', 'gyr-y', 'gyr-z'] +# lab_2 = ['acc-x', 'acc-y', 'acc-z'] +# for i in range(3): +# # if i==1: +# axs[0].plot(time, imu[:,i+1],'.-', label=lab_1[i]) +# axs[1].plot(time, imu[:,i+4],'.-', label=lab_2[i]) +# for i in range(2): +# # axs[i].set_xlim(386,389) +# axs[i].grid() +# axs[i].legend() +# plt.grid() + +# #### Draw time calculation +# plt.figure(3) +# fig = plt.figure() +# font1 = {'family' : 'Times New Roman', +# 'weight' : 'normal', +# 'size' : 12, +# } +# c="red" +# a_out1=np.loadtxt('Log/mat_out_time_indoor1.txt') +# a_out2=np.loadtxt('Log/mat_out_time_indoor2.txt') +# a_out3=np.loadtxt('Log/mat_out_time_outdoor.txt') +# # n = a_out[:,1].size +# # time_mean = a_out[:,1].mean() +# # time_se = a_out[:,1].std() / np.sqrt(n) +# # time_err = a_out[:,1] - time_mean +# # feat_mean = a_out[:,2].mean() +# # feat_err = a_out[:,2] - feat_mean +# # feat_se = a_out[:,2].std() / np.sqrt(n) +# ax1 = fig.add_subplot(111) +# ax1.set_ylabel('Effective Feature Numbers',font1) +# ax1.boxplot(a_out1[:,2], showfliers=False, positions=[0.9]) +# ax1.boxplot(a_out2[:,2], showfliers=False, positions=[1.9]) +# ax1.boxplot(a_out3[:,2], showfliers=False, positions=[2.9]) +# ax1.set_ylim([0, 3000]) + +# ax2 = ax1.twinx() +# ax2.spines['right'].set_color('red') +# ax2.set_ylabel('Compute Time (ms)',font1) +# ax2.yaxis.label.set_color('red') +# ax2.tick_params(axis='y', colors='red') +# ax2.boxplot(a_out1[:,1]*1000, showfliers=False, positions=[1.1],boxprops=dict(color=c),capprops=dict(color=c),whiskerprops=dict(color=c)) +# ax2.boxplot(a_out2[:,1]*1000, showfliers=False, positions=[2.1],boxprops=dict(color=c),capprops=dict(color=c),whiskerprops=dict(color=c)) +# ax2.boxplot(a_out3[:,1]*1000, showfliers=False, positions=[3.1],boxprops=dict(color=c),capprops=dict(color=c),whiskerprops=dict(color=c)) +# ax2.set_xlim([0.5, 3.5]) +# ax2.set_ylim([0, 100]) + +# plt.xticks([1,2,3], ('Outdoor Scene', 'Indoor Scene 1', 'Indoor Scene 2')) +# # # print(time_se) +# # # print(a_out3[:,2]) +# plt.grid() +# plt.savefig("time.pdf", dpi=1200) +plt.show() diff --git a/src/rm_nav/rm_localization/FAST_LIO/PCD/1 b/src/rm_nav/rm_localization/FAST_LIO/PCD/1 new file mode 100644 index 0000000..d00491f --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/PCD/1 @@ -0,0 +1 @@ +1 diff --git a/src/rm_nav/rm_localization/FAST_LIO/README.md b/src/rm_nav/rm_localization/FAST_LIO/README.md new file mode 100644 index 0000000..cc29f08 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/README.md @@ -0,0 +1,195 @@ +> ROS2 Fork repo maintainer: [Ericsiii](https://github.com/Ericsii) + +## Related Works and Extended Application + +**SLAM:** + +1. [ikd-Tree](https://github.com/hku-mars/ikd-Tree): A state-of-art dynamic KD-Tree for 3D kNN search. +2. [R2LIVE](https://github.com/hku-mars/r2live): A high-precision LiDAR-inertial-Vision fusion work using FAST-LIO as LiDAR-inertial front-end. +3. [LI_Init](https://github.com/hku-mars/LiDAR_IMU_Init): A robust, real-time LiDAR-IMU extrinsic initialization and synchronization package.. +4. [FAST-LIO-LOCALIZATION](https://github.com/HViktorTsoi/FAST_LIO_LOCALIZATION): The integration of FAST-LIO with **Re-localization** function module. + +**Control and Plan:** + +1. [IKFOM](https://github.com/hku-mars/IKFoM): A Toolbox for fast and high-precision on-manifold Kalman filter. +2. [UAV Avoiding Dynamic Obstacles](https://github.com/hku-mars/dyn_small_obs_avoidance): One of the implementation of FAST-LIO in robot's planning. +3. [UGV Demo](https://www.youtube.com/watch?v=wikgrQbE6Cs): Model Predictive Control for Trajectory Tracking on Differentiable Manifolds. +4. [Bubble Planner](https://arxiv.org/abs/2202.12177): Planning High-speed Smooth Quadrotor Trajectories using Receding Corridors. + + + +## FAST-LIO +**FAST-LIO** (Fast LiDAR-Inertial Odometry) is a computationally efficient and robust LiDAR-inertial odometry package. It fuses LiDAR feature points with IMU data using a tightly-coupled iterated extended Kalman filter to allow robust navigation in fast-motion, noisy or cluttered environments where degeneration occurs. Our package address many key issues: +1. Fast iterated Kalman filter for odometry optimization; +2. Automaticaly initialized at most steady environments; +3. Parallel KD-Tree Search to decrease the computation; + +## FAST-LIO 2.0 (2021-07-05 Update) + + +
+ + +
+ +**Related video:** [FAST-LIO2](https://youtu.be/2OvjGnxszf8), [FAST-LIO1](https://youtu.be/iYCY6T79oNU) + +**Pipeline:** +
+ +
+ +**New Features:** +1. Incremental mapping using [ikd-Tree](https://github.com/hku-mars/ikd-Tree), achieve faster speed and over 100Hz LiDAR rate. +2. Direct odometry (scan to map) on Raw LiDAR points (feature extraction can be disabled), achieving better accuracy. +3. Since no requirements for feature extraction, FAST-LIO2 can support many types of LiDAR including spinning (Velodyne, Ouster) and solid-state (Livox Avia, Horizon, MID-70) LiDARs, and can be easily extended to support more LiDARs. +4. Support external IMU. +5. Support ARM-based platforms including Khadas VIM3, Nivida TX2, Raspberry Pi 4B(8G RAM). + +**Related papers**: + +[FAST-LIO2: Fast Direct LiDAR-inertial Odometry](doc/Fast_LIO_2.pdf) + +[FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter](https://arxiv.org/abs/2010.08196) + +**Contributors** + +[Wei Xu 徐威](https://github.com/XW-HKU)，[Yixi Cai 蔡逸熙](https://github.com/Ecstasy-EC)，[Dongjiao He 贺东娇](https://github.com/Joanna-HE)，[Fangcheng Zhu 朱方程](https://github.com/zfc-zfc)，[Jiarong Lin 林家荣](https://github.com/ziv-lin)，[Zheng Liu 刘政](https://github.com/Zale-Liu), [Borong Yuan](https://github.com/borongyuan) + + + +## 1. Prerequisites +### 1.1 **Ubuntu** and **ROS** +**Ubuntu >= 20.04** + +The **default from apt** PCL and Eigen is enough for FAST-LIO to work normally. + +ROS >= Foxy (Recommend to use ROS-Humble). [ROS Installation](https://docs.ros.org/en/humble/Installation.html) + +### 1.2. **PCL && Eigen** +PCL >= 1.8, Follow [PCL Installation](https://pointclouds.org/downloads/#linux). + +Eigen >= 3.3.4, Follow [Eigen Installation](http://eigen.tuxfamily.org/index.php?title=Main_Page). + +### 1.3. **livox_ros_driver2** +Follow [livox_ros_driver2 Installation](https://github.com/Livox-SDK/livox_ros_driver2). + +You can also use the one I modified [livox_ros_driver2](https://github.com/Ericsii/livox_ros_driver2/tree/feature/use-standard-unit) + +*Remarks:* +- Since the FAST-LIO must support Livox serials LiDAR firstly, so the **livox_ros_driver** must be installed and **sourced** before run any FAST-LIO launch file. +- How to source? The easiest way is add the line ``` source $Licox_ros_driver_dir$/devel/setup.bash ``` to the end of file ``` ~/.bashrc ```, where ``` $Licox_ros_driver_dir$ ``` is the directory of the livox ros driver workspace (should be the ``` ws_livox ``` directory if you completely followed the livox official document). + + +## 2. Build +Clone the repository and colcon build: + +```bash + cd /src # cd into a ros2 workspace folder + git clone https://github.com/Ericsii/FAST_LIO.git --recursive + cd .. + rosdep install --from-paths src --ignore-src -y + colcon build --symlink-install + . ./install/setup.bash # use setup.zsh if use zsh +``` +- **Remember to source the livox_ros_driver before build (follow [1.3 livox_ros_driver](#1.3))** +- If you want to use a custom build of PCL, add the following line to ~/.bashrc +```export PCL_ROOT={CUSTOM_PCL_PATH}``` +## 3. Directly run +Noted: + +A. Please make sure the IMU and LiDAR are **Synchronized**, that's important. + +B. The warning message "Failed to find match for field 'time'." means the timestamps of each LiDAR points are missed in the rosbag file. That is important for the forward propagation and backwark propagation. + +C. We recommend to set the **extrinsic_est_en** to false if the extrinsic is give. As for the extrinsic initiallization, please refer to our recent work: [**Robust Real-time LiDAR-inertial Initialization**](https://github.com/hku-mars/LiDAR_IMU_Init). + +### 3.1 Run use ros launch +Connect to your PC to Livox LiDAR by following [Livox-ros-driver2 installation](https://github.com/Livox-SDK/livox_ros_driver2), then +```bash +cd +. install/setup.bash # use setup.zsh if use zsh +ros2 launch fast_lio mapping.launch.py config_file:=avia.yaml +``` + +Change `config_file` parameter to other yaml file under config directory as you need. + +Launch livox ros driver. Use MID360 as an example. + +```bash +ros2 launch livox_ros_driver2 msg_MID360_launch.py +``` + +- For livox serials, FAST-LIO only support the data collected by the ``` livox_lidar_msg.launch ``` since only its ``` livox_ros_driver2/CustomMsg ``` data structure produces the timestamp of each LiDAR point which is very important for the motion undistortion. ``` livox_lidar.launch ``` can not produce it right now. +- If you want to change the frame rate, please modify the **publish_freq** parameter in the [livox_lidar_msg.launch](https://github.com/Livox-SDK/livox_ros_driver/blob/master/livox_ros_driver2/launch/livox_lidar_msg.launch) of [Livox-ros-driver](https://github.com/Livox-SDK/livox_ros_driver2) before make the livox_ros_driver pakage. + +### 3.2 For Livox serials with external IMU + +mapping_avia.launch theratically supports mid-70, mid-40 or other livox serial LiDAR, but need to setup some parameters befor run: + +Edit ``` config/avia.yaml ``` to set the below parameters: + +1. LiDAR point cloud topic name: ``` lid_topic ``` +2. IMU topic name: ``` imu_topic ``` +3. Translational extrinsic: ``` extrinsic_T ``` +4. Rotational extrinsic: ``` extrinsic_R ``` (only support rotation matrix) +- The extrinsic parameters in FAST-LIO is defined as the LiDAR's pose (position and rotation matrix) in IMU body frame (i.e. the IMU is the base frame). They can be found in the official manual. +- FAST-LIO produces a very simple software time sync for livox LiDAR, set parameter ```time_sync_en``` to ture to turn on. But turn on **ONLY IF external time synchronization is really not possible**, since the software time sync cannot make sure accuracy. + +### 3.4 PCD file save + +Set ``` pcd_save_enable ``` in launchfile to ``` 1 ```. All the scans (in global frame) will be accumulated and saved to the file ``` FAST_LIO/PCD/scans.pcd ``` after the FAST-LIO is terminated. ```pcl_viewer scans.pcd``` can visualize the point clouds. + +*Tips for pcl_viewer:* +- change what to visualize/color by pressing keyboard 1,2,3,4,5 when pcl_viewer is running. +``` + 1 is all random + 2 is X values + 3 is Y values + 4 is Z values + 5 is intensity +``` + +## 4. Rosbag Example +### 4.1 Livox Avia Rosbag +
+ + + +Files: Can be downloaded from [google drive](https://drive.google.com/drive/folders/1CGYEJ9-wWjr8INyan6q1BZz_5VtGB-fP?usp=sharing)**!!!This ros1 bag should be convert to ros2!!!** + +Run: +```bash +ros2 launch fast_lio mapping.launch.py config_path:= +ros2 bag play + +``` + +### 4.2 Velodyne HDL-32E Rosbag + +**NCLT Dataset**: Original bin file can be found [here](http://robots.engin.umich.edu/nclt/). + +We produce [Rosbag Files](https://drive.google.com/drive/folders/1VBK5idI1oyW0GC_I_Hxh63aqam3nocNK?usp=sharing) and [a python script](https://drive.google.com/file/d/1leh7DxbHx29DyS1NJkvEfeNJoccxH7XM/view) to generate Rosbag files: ```python3 sensordata_to_rosbag_fastlio.py bin_file_dir bag_name.bag```**!!!This ros1 bag should be convert to ros2!!!** To convert ros1 bag to ros2 bag, please follow the documentation [Convert rosbag versions](https://ternaris.gitlab.io/rosbags/topics/convert.html) + +Run: +``` +roslaunch fast_lio mapping_velodyne.launch +rosbag play YOUR_DOWNLOADED.bag +``` + +## 5.Implementation on UAV +In order to validate the robustness and computational efficiency of FAST-LIO in actual mobile robots, we build a small-scale quadrotor which can carry a Livox Avia LiDAR with 70 degree FoV and a DJI Manifold 2-C onboard computer with a 1.8 GHz Intel i7-8550U CPU and 8 G RAM, as shown in below. + +The main structure of this UAV is 3d printed (Aluminum or PLA), the .stl file will be open-sourced in the future. + +
+ + +
+ +## 6.Acknowledgments + +Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time), [Livox_Mapping](https://github.com/Livox-SDK/livox_mapping), [LINS](https://github.com/ChaoqinRobotics/LINS---LiDAR-inertial-SLAM) and [Loam_Livox](https://github.com/hku-mars/loam_livox). diff --git a/src/rm_nav/rm_localization/FAST_LIO/config/avia.yaml b/src/rm_nav/rm_localization/FAST_LIO/config/avia.yaml new file mode 100644 index 0000000..3bbc880 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/config/avia.yaml @@ -0,0 +1,46 @@ +/**: + ros__parameters: + feature_extract_enable: false + point_filter_num: 3 + max_iteration: 3 + filter_size_surf: 0.5 + filter_size_map: 0.5 + cube_side_length: 1000.0 + runtime_pos_log_enable: false + map_file_path: "./test.pcd" + + common: + lid_topic: "/livox/lidar" + imu_topic: "/livox/imu" + time_sync_en: false # ONLY turn on when external time synchronization is really not possible + time_offset_lidar_to_imu: 0.0 # Time offset between lidar and IMU calibrated by other algorithms, e.g. LI-Init (can be found in README). + # This param will take effect no matter what time_sync_en is. So if the time offset is not known exactly, please set as 0.0 + + preprocess: + lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, + scan_line: 6 + blind: 4.0 + + mapping: + acc_cov: 0.1 + gyr_cov: 0.1 + b_acc_cov: 0.0001 + b_gyr_cov: 0.0001 + fov_degree: 90.0 + det_range: 450.0 + extrinsic_est_en: false # true: enable the online estimation of IMU-LiDAR extrinsic + extrinsic_T: [ 0.04165, 0.02326, -0.0284 ] + extrinsic_R: [ 1., 0., 0., + 0., 1., 0., + 0., 0., 1.] + + publish: + path_en: false + scan_publish_en: true # false: close all the point cloud output + dense_publish_en: true # false: low down the points number in a global-frame point clouds scan. + scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame + + pcd_save: + pcd_save_en: true + interval: -1 # how many LiDAR frames saved in each pcd file; + # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. diff --git a/src/rm_nav/rm_localization/FAST_LIO/config/horizon.yaml b/src/rm_nav/rm_localization/FAST_LIO/config/horizon.yaml new file mode 100644 index 0000000..2ff8654 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/config/horizon.yaml @@ -0,0 +1,46 @@ +/**: + ros__parameters: + feature_extract_enable: false + point_filter_num: 3 + max_iteration: 3 + filter_size_surf: 0.5 + filter_size_map: 0.5 + cube_side_length: 1000.0 + runtime_pos_log_enable: false + map_file_path: "./test.pcd" + + common: + lid_topic: "/livox/lidar" + imu_topic: "/livox/imu" + time_sync_en: false # ONLY turn on when external time synchronization is really not possible + time_offset_lidar_to_imu: 0.0 # Time offset between lidar and IMU calibrated by other algorithms, e.g. LI-Init (can be found in README). + # This param will take effect no matter what time_sync_en is. So if the time offset is not known exactly, please set as 0.0 + + preprocess: + lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, + scan_line: 6 + blind: 4.0 + + mapping: + acc_cov: 0.1 + gyr_cov: 0.1 + b_acc_cov: 0.0001 + b_gyr_cov: 0.0001 + fov_degree: 100.0 + det_range: 260.0 + extrinsic_est_en: true # true: enable the online estimation of IMU-LiDAR extrinsic + extrinsic_T: [ 0.05512, 0.02226, -0.0297 ] + extrinsic_R: [ 1., 0., 0., + 0., 1., 0., + 0., 0., 1.] + + publish: + path_en: false + scan_publish_en: true # false: close all the point cloud output + dense_publish_en: true # false: low down the points number in a global-frame point clouds scan. + scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame + + pcd_save: + pcd_save_en: true + interval: -1 # how many LiDAR frames saved in each pcd file; + # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. diff --git a/src/rm_nav/rm_localization/FAST_LIO/config/mid360.yaml b/src/rm_nav/rm_localization/FAST_LIO/config/mid360.yaml new file mode 100644 index 0000000..b940253 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/config/mid360.yaml @@ -0,0 +1,50 @@ +/**: + ros__parameters: + feature_extract_enable: false + point_filter_num: 3 + max_iteration: 3 + filter_size_surf: 0.5 + filter_size_map: 0.5 + cube_side_length: 1000.0 + runtime_pos_log_enable: false + map_file_path: "./test.pcd" + + common: + lid_topic: "/livox/lidar" + imu_topic: "/livox/imu" + time_sync_en: false # ONLY turn on when external time synchronization is really not possible + time_offset_lidar_to_imu: 0.0 # Time offset between lidar and IMU calibrated by other algorithms, e.g. LI-Init (can be found in README). + # This param will take effect no matter what time_sync_en is. So if the time offset is not known exactly, please set as 0.0 + + preprocess: + lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 4 for any other pointcloud input + scan_line: 4 + blind: 0.5 + timestamp_unit: 3 + scan_rate: 10 + + mapping: + acc_cov: 0.1 + gyr_cov: 0.1 + b_acc_cov: 0.0001 + b_gyr_cov: 0.0001 + fov_degree: 360.0 + det_range: 100.0 + extrinsic_est_en: true # true: enable the online estimation of IMU-LiDAR extrinsic + extrinsic_T: [ -0.011, -0.02329, 0.04412 ] + extrinsic_R: [ 1., 0., 0., + 0., 1., 0., + 0., 0., 1.] + + publish: + path_en: true # true: publish Path + effect_map_en: false # true: publish Effects + map_en: true # true: publish Map cloud + scan_publish_en: true # false: close all the point cloud output + dense_publish_en: false # false: low down the points number in a global-frame point clouds scan. + scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame + + pcd_save: + pcd_save_en: true + interval: -1 # how many LiDAR frames saved in each pcd file; + # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. \ No newline at end of file diff --git a/src/rm_nav/rm_localization/FAST_LIO/config/ouster64.yaml b/src/rm_nav/rm_localization/FAST_LIO/config/ouster64.yaml new file mode 100644 index 0000000..6f47b82 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/config/ouster64.yaml @@ -0,0 +1,47 @@ +/**: + ros__parameters: + feature_extract_enable: false + point_filter_num: 3 + max_iteration: 3 + filter_size_surf: 0.5 + filter_size_map: 0.5 + cube_side_length: 1000.0 + runtime_pos_log_enable: false + map_file_path: "./test.pcd" + + common: + lid_topic: "/os_cloud_node/points" + imu_topic: "/os_cloud_node/imu" + time_sync_en: false # ONLY turn on when external time synchronization is really not possible + time_offset_lidar_to_imu: 0.0 # Time offset between lidar and IMU calibrated by other algorithms, e.g. LI-Init (can be found in README). + # This param will take effect no matter what time_sync_en is. So if the time offset is not known exactly, please set as 0.0 + + preprocess: + lidar_type: 3 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, + scan_line: 64 + timestamp_unit: 3 # 0-second, 1-milisecond, 2-microsecond, 3-nanosecond. + blind: 4.0 + + mapping: + acc_cov: 0.1 + gyr_cov: 0.1 + b_acc_cov: 0.0001 + b_gyr_cov: 0.0001 + fov_degree: 360.0 + det_range: 150.0 + extrinsic_est_en: false # true: enable the online estimation of IMU-LiDAR extrinsic + extrinsic_T: [ 0.0, 0.0, 0.0 ] + extrinsic_R: [1., 0., 0., + 0., 1., 0., + 0., 0., 1.] + + publish: + path_en: false + scan_publish_en: true # false: close all the point cloud output + dense_publish_en: true # false: low down the points number in a global-frame point clouds scan. + scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame + + pcd_save: + pcd_save_en: true + interval: -1 # how many LiDAR frames saved in each pcd file; + # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. diff --git a/src/rm_nav/rm_localization/FAST_LIO/config/velodyne.yaml b/src/rm_nav/rm_localization/FAST_LIO/config/velodyne.yaml new file mode 100644 index 0000000..24e6bf2 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/config/velodyne.yaml @@ -0,0 +1,48 @@ +/**: + ros__parameters: + feature_extract_enable: false + point_filter_num: 4 + max_iteration: 3 + filter_size_surf: 0.5 + filter_size_map: 0.5 + cube_side_length: 1000.0 + runtime_pos_log_enable: false + map_file_path: "./test.pcd" + + common: + lid_topic: "/velodyne_points" + imu_topic: "/imu/data" + time_sync_en: false # ONLY turn on when external time synchronization is really not possible + time_offset_lidar_to_imu: 0.0 # Time offset between lidar and IMU calibrated by other algorithms, e.g. LI-Init (can be found in README). + # This param will take effect no matter what time_sync_en is. So if the time offset is not known exactly, please set as 0.0 + + preprocess: + lidar_type: 2 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, + scan_line: 32 + scan_rate: 10 # only need to be set for velodyne, unit: Hz, + timestamp_unit: 2 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond. + blind: 2.0 + + mapping: + acc_cov: 0.1 + gyr_cov: 0.1 + b_acc_cov: 0.0001 + b_gyr_cov: 0.0001 + fov_degree: 360.0 + det_range: 100.0 + extrinsic_est_en: false # true: enable the online estimation of IMU-LiDAR extrinsic, + extrinsic_T: [ 0., 0., 0.28] + extrinsic_R: [ 1., 0., 0., + 0., 1., 0., + 0., 0., 1.] + + publish: + path_en: false + scan_publish_en: true # false: close all the point cloud output + dense_publish_en: true # false: low down the points number in a global-frame point clouds scan. + scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame + + pcd_save: + pcd_save_en: true + interval: -1 # how many LiDAR frames saved in each pcd file; + # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. diff --git a/src/rm_nav/rm_localization/FAST_LIO/doc/Fast_LIO_2.pdf b/src/rm_nav/rm_localization/FAST_LIO/doc/Fast_LIO_2.pdf new file mode 100644 index 0000000..fea6764 Binary files /dev/null and b/src/rm_nav/rm_localization/FAST_LIO/doc/Fast_LIO_2.pdf differ diff --git a/src/rm_nav/rm_localization/FAST_LIO/doc/avia_scan.png b/src/rm_nav/rm_localization/FAST_LIO/doc/avia_scan.png new file mode 100644 index 0000000..694f9cd Binary files /dev/null and b/src/rm_nav/rm_localization/FAST_LIO/doc/avia_scan.png differ diff --git a/src/rm_nav/rm_localization/FAST_LIO/doc/avia_scan2.png b/src/rm_nav/rm_localization/FAST_LIO/doc/avia_scan2.png new file mode 100644 index 0000000..540ce6c Binary files /dev/null and b/src/rm_nav/rm_localization/FAST_LIO/doc/avia_scan2.png differ diff --git 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index 0000000..7ab2897 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/include/Exp_mat.h @@ -0,0 +1,103 @@ +#ifndef EXP_MAT_H +#define EXP_MAT_H + +#include +#include +#include +// #include + +#define SKEW_SYM_MATRX(v) 0.0,-v[2],v[1],v[2],0.0,-v[0],-v[1],v[0],0.0 + +template +Eigen::Matrix Exp(const Eigen::Matrix &&ang) +{ + T ang_norm = ang.norm(); + Eigen::Matrix Eye3 = Eigen::Matrix::Identity(); + if (ang_norm > 0.0000001) + { + Eigen::Matrix r_axis = ang / ang_norm; + Eigen::Matrix K; + K << SKEW_SYM_MATRX(r_axis); + /// Roderigous Tranformation + return Eye3 + std::sin(ang_norm) * K + (1.0 - std::cos(ang_norm)) * K * K; + } + else + { + return Eye3; + } +} + +template +Eigen::Matrix Exp(const Eigen::Matrix &ang_vel, const Ts &dt) +{ + T ang_vel_norm = ang_vel.norm(); + Eigen::Matrix Eye3 = Eigen::Matrix::Identity(); + + if (ang_vel_norm > 0.0000001) + { + Eigen::Matrix r_axis = ang_vel / ang_vel_norm; + Eigen::Matrix K; + + K << SKEW_SYM_MATRX(r_axis); + + T r_ang = ang_vel_norm * dt; + + /// Roderigous Tranformation + return Eye3 + std::sin(r_ang) * K + (1.0 - std::cos(r_ang)) * K * K; + } + else + { + return Eye3; + } +} + +template +Eigen::Matrix Exp(const T &v1, const T &v2, const T &v3) +{ + T &&norm = sqrt(v1 * v1 + v2 * v2 + v3 * v3); + Eigen::Matrix Eye3 = Eigen::Matrix::Identity(); + if (norm > 0.00001) + { + T r_ang[3] = {v1 / norm, v2 / norm, v3 / norm}; + Eigen::Matrix K; + K << SKEW_SYM_MATRX(r_ang); + + /// Roderigous Tranformation + return Eye3 + std::sin(norm) * K + (1.0 - std::cos(norm)) * K * K; + } + else + { + return Eye3; + } +} + +/* Logrithm of a Rotation Matrix */ +template +Eigen::Matrix Log(const Eigen::Matrix &R) +{ + T &&theta = std::acos(0.5 * (R.trace() - 1)); + Eigen::Matrix K(R(2,1) - R(1,2), R(0,2) - R(2,0), R(1,0) - R(0,1)); + return (std::abs(theta) < 0.001) ? (0.5 * K) : (0.5 * theta / std::sin(theta) * K); +} + +// template +// cv::Mat Exp(const T &v1, const T &v2, const T &v3) +// { + +// T norm = sqrt(v1 * v1 + v2 * v2 + v3 * v3); +// cv::Mat Eye3 = cv::Mat::eye(3, 3, CV_32F); +// if (norm > 0.0000001) +// { +// T r_ang[3] = {v1 / norm, v2 / norm, v3 / norm}; +// cv::Mat K = (cv::Mat_(3,3) << SKEW_SYM_MATRX(r_ang)); + +// /// Roderigous Tranformation +// return Eye3 + std::sin(norm) * K + (1.0 - std::cos(norm)) * K * K; +// } +// else +// { +// return Eye3; +// } +// } + +#endif diff --git a/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/esekfom/esekfom.hpp b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/esekfom/esekfom.hpp new file mode 100755 index 0000000..3c6829c --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/esekfom/esekfom.hpp @@ -0,0 +1,2008 @@ +/* + * Copyright (c) 2019--2023, The University of Hong Kong + * All rights reserved. + * + * Author: Dongjiao HE + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef ESEKFOM_EKF_HPP +#define ESEKFOM_EKF_HPP + + +#include +#include + +#include +#include +#include +#include +#include + +#include "../mtk/types/vect.hpp" +#include "../mtk/types/SOn.hpp" +#include "../mtk/types/S2.hpp" +#include "../mtk/startIdx.hpp" +#include "../mtk/build_manifold.hpp" +#include "util.hpp" + +//#define USE_sparse + + +namespace esekfom { + +using namespace Eigen; + +//used for iterated error state EKF update +//for the aim to calculate measurement (z), estimate measurement (h), partial differention matrices (h_x, h_v) and the noise covariance (R) at the same time, by only one function. +//applied for measurement as a manifold. +template +struct share_datastruct +{ + bool valid; + bool converge; + M z; + Eigen::Matrix h_v; + Eigen::Matrix h_x; + Eigen::Matrix R; +}; + +//used for iterated error state EKF update +//for the aim to calculate measurement (z), estimate measurement (h), partial differention matrices (h_x, h_v) and the noise covariance (R) at the same time, by only one function. +//applied for measurement as an Eigen matrix whose dimension is changing +template +struct dyn_share_datastruct +{ + bool valid; + bool converge; + Eigen::Matrix z; + Eigen::Matrix h; + Eigen::Matrix h_v; + Eigen::Matrix h_x; + Eigen::Matrix R; +}; + +//used for iterated error state EKF update +//for the aim to calculate measurement (z), estimate measurement (h), partial differention matrices (h_x, h_v) and the noise covariance (R) at the same time, by only one function. +//applied for measurement as a dynamic manifold whose dimension or type is changing +template +struct dyn_runtime_share_datastruct +{ + bool valid; + bool converge; + //Z z; + Eigen::Matrix h_v; + Eigen::Matrix h_x; + Eigen::Matrix R; +}; + +template +class esekf{ + + typedef esekf self; + enum{ + n = state::DOF, m = state::DIM, l = measurement::DOF + }; + +public: + + typedef typename state::scalar scalar_type; + typedef Matrix cov; + typedef Matrix cov_; + typedef SparseMatrix spMt; + typedef Matrix vectorized_state; + typedef Matrix flatted_state; + typedef flatted_state processModel(state &, const input &); + typedef Eigen::Matrix processMatrix1(state &, const input &); + typedef Eigen::Matrix processMatrix2(state &, const input &); + typedef Eigen::Matrix processnoisecovariance; + typedef measurement measurementModel(state &, bool &); + typedef measurement measurementModel_share(state &, share_datastruct &); + typedef Eigen::Matrix measurementModel_dyn(state &, bool &); + //typedef Eigen::Matrix measurementModel_dyn_share(state &, dyn_share_datastruct &); + typedef void measurementModel_dyn_share(state &, dyn_share_datastruct &); + typedef Eigen::Matrix measurementMatrix1(state &, bool&); + typedef Eigen::Matrix measurementMatrix1_dyn(state &, bool&); + typedef Eigen::Matrix measurementMatrix2(state &, bool&); + typedef Eigen::Matrix measurementMatrix2_dyn(state &, bool&); + typedef Eigen::Matrix measurementnoisecovariance; + typedef Eigen::Matrix measurementnoisecovariance_dyn; + + esekf(const state &x = state(), + const cov &P = cov::Identity()): x_(x), P_(P){ + #ifdef USE_sparse + SparseMatrix ref(n, n); + ref.setIdentity(); + l_ = ref; + f_x_2 = ref; + f_x_1 = ref; + #endif + }; + + //receive system-specific models and their differentions. + //for measurement as a manifold. + void init(processModel f_in, processMatrix1 f_x_in, processMatrix2 f_w_in, measurementModel h_in, measurementMatrix1 h_x_in, measurementMatrix2 h_v_in, int maximum_iteration, scalar_type limit_vector[n]) + { + f = f_in; + f_x = f_x_in; + f_w = f_w_in; + h = h_in; + h_x = h_x_in; + h_v = h_v_in; + + maximum_iter = maximum_iteration; + for(int i=0; i f_w_ = f_w(x_, i_in); + Matrix f_w_final; + state x_before = x_; + x_.oplus(f_, dt); + + F_x1 = cov::Identity(); + for (std::vector, int> >::iterator it = x_.vect_state.begin(); it != x_.vect_state.end(); it++) { + int idx = (*it).first.first; + int dim = (*it).first.second; + int dof = (*it).second; + for(int i = 0; i < n; i++){ + for(int j=0; j res_temp_SO3; + MTK::vect<3, scalar_type> seg_SO3; + for (std::vector >::iterator it = x_.SO3_state.begin(); it != x_.SO3_state.end(); it++) { + int idx = (*it).first; + int dim = (*it).second; + for(int i = 0; i < 3; i++){ + seg_SO3(i) = -1 * f_(dim + i) * dt; + } + MTK::SO3 res; + res.w() = MTK::exp(res.vec(), seg_SO3, scalar_type(1/2)); + #ifdef USE_sparse + res_temp_SO3 = res.toRotationMatrix(); + for(int i = 0; i < 3; i++){ + for(int j = 0; j < 3; j++){ + f_x_1.coeffRef(idx + i, idx + j) = res_temp_SO3(i, j); + } + } + #else + F_x1.template block<3, 3>(idx, idx) = res.toRotationMatrix(); + #endif + res_temp_SO3 = MTK::A_matrix(seg_SO3); + for(int i = 0; i < n; i++){ + f_x_final. template block<3, 1>(idx, i) = res_temp_SO3 * (f_x_. template block<3, 1>(dim, i)); + } + for(int i = 0; i < process_noise_dof; i++){ + f_w_final. template block<3, 1>(idx, i) = res_temp_SO3 * (f_w_. template block<3, 1>(dim, i)); + } + } + + + Matrix res_temp_S2; + Matrix res_temp_S2_; + MTK::vect<3, scalar_type> seg_S2; + for (std::vector >::iterator it = x_.S2_state.begin(); it != x_.S2_state.end(); it++) { + int idx = (*it).first; + int dim = (*it).second; + for(int i = 0; i < 3; i++){ + seg_S2(i) = f_(dim + i) * dt; + } + MTK::vect<2, scalar_type> vec = MTK::vect<2, scalar_type>::Zero(); + MTK::SO3 res; + res.w() = MTK::exp(res.vec(), seg_S2, scalar_type(1/2)); + Eigen::Matrix Nx; + Eigen::Matrix Mx; + x_.S2_Nx_yy(Nx, idx); + x_before.S2_Mx(Mx, vec, idx); + #ifdef USE_sparse + res_temp_S2_ = Nx * res.toRotationMatrix() * Mx; + for(int i = 0; i < 2; i++){ + for(int j = 0; j < 2; j++){ + f_x_1.coeffRef(idx + i, idx + j) = res_temp_S2_(i, j); + } + } + #else + F_x1.template block<2, 2>(idx, idx) = Nx * res.toRotationMatrix() * Mx; + #endif + + Eigen::Matrix x_before_hat; + x_before.S2_hat(x_before_hat, idx); + res_temp_S2 = -Nx * res.toRotationMatrix() * x_before_hat*MTK::A_matrix(seg_S2).transpose(); + + for(int i = 0; i < n; i++){ + f_x_final. template block<2, 1>(idx, i) = res_temp_S2 * (f_x_. template block<3, 1>(dim, i)); + + } + for(int i = 0; i < process_noise_dof; i++){ + f_w_final. template block<2, 1>(idx, i) = res_temp_S2 * (f_w_. template block<3, 1>(dim, i)); + } + } + + #ifdef USE_sparse + f_x_1.makeCompressed(); + spMt f_x2 = f_x_final.sparseView(); + spMt f_w1 = f_w_final.sparseView(); + spMt xp = f_x_1 + f_x2 * dt; + P_ = xp * P_ * xp.transpose() + (f_w1 * dt) * Q * (f_w1 * dt).transpose(); + #else + F_x1 += f_x_final * dt; + P_ = (F_x1) * P_ * (F_x1).transpose() + (dt * f_w_final) * Q * (dt * f_w_final).transpose(); + #endif + } + + //iterated error state EKF update for measurement as a manifold. + void update_iterated(measurement& z, measurementnoisecovariance &R) { + + if(!(is_same())){ + std::cerr << "the scalar type of measurment must be the same as the state" << std::endl; + std::exit(100); + } + int t = 0; + bool converg = true; + bool valid = true; + state x_propagated = x_; + cov P_propagated = P_; + + for(int i=-1; i h_x_ = h_x(x_, valid); + Matrix h_v_ = h_v(x_, valid); + #endif + if(! valid) + { + continue; + } + + P_ = P_propagated; + + Matrix res_temp_SO3; + MTK::vect<3, scalar_type> seg_SO3; + for (std::vector >::iterator it = x_.SO3_state.begin(); it != x_.SO3_state.end(); it++) { + int idx = (*it).first; + int dim = (*it).second; + for(int i = 0; i < 3; i++){ + seg_SO3(i) = dx(idx+i); + } + + res_temp_SO3 = A_matrix(seg_SO3).transpose(); + dx_new.template block<3, 1>(idx, 0) = res_temp_SO3 * dx.template block<3, 1>(idx, 0); + for(int i = 0; i < n; i++){ + P_. template block<3, 1>(idx, i) = res_temp_SO3 * (P_. template block<3, 1>(idx, i)); + } + for(int i = 0; i < n; i++){ + P_. template block<1, 3>(i, idx) =(P_. template block<1, 3>(i, idx)) * res_temp_SO3.transpose(); + } + } + + + Matrix res_temp_S2; + MTK::vect<2, scalar_type> seg_S2; + for (std::vector >::iterator it = x_.S2_state.begin(); it != x_.S2_state.end(); it++) { + int idx = (*it).first; + int dim = (*it).second; + for(int i = 0; i < 2; i++){ + seg_S2(i) = dx(idx + i); + } + + Eigen::Matrix Nx; + Eigen::Matrix Mx; + x_.S2_Nx_yy(Nx, idx); + x_propagated.S2_Mx(Mx, seg_S2, idx); + res_temp_S2 = Nx * Mx; + dx_new.template block<2, 1>(idx, 0) = res_temp_S2 * dx.template block<2, 1>(idx, 0); + for(int i = 0; i < n; i++){ + P_. template block<2, 1>(idx, i) = res_temp_S2 * (P_. template block<2, 1>(idx, i)); + } + for(int i = 0; i < n; i++){ + P_. template block<1, 2>(i, idx) = (P_. template block<1, 2>(i, idx)) * res_temp_S2.transpose(); + } + } + + Matrix K_; + if(n > l) + { + #ifdef USE_sparse + Matrix K_temp = h_x_ * P_ * h_x_.transpose(); + spMt R_temp = h_v_ * R_ * h_v_.transpose(); + K_temp += R_temp; + K_ = P_ * h_x_.transpose() * K_temp.inverse(); + #else + K_= P_ * h_x_.transpose() * (h_x_ * P_ * h_x_.transpose() + h_v_ * R * h_v_.transpose()).inverse(); + #endif + } + else + { + #ifdef USE_sparse + measurementnoisecovariance b = measurementnoisecovariance::Identity(); + Eigen::SparseQR, Eigen::COLAMDOrdering> solver; + solver.compute(R_); + measurementnoisecovariance R_in_temp = solver.solve(b); + spMt R_in = R_in_temp.sparseView(); + spMt K_temp = h_x_.transpose() * R_in * h_x_; + cov P_temp = P_.inverse(); + P_temp += K_temp; + K_ = P_temp.inverse() * h_x_.transpose() * R_in; + #else + measurementnoisecovariance R_in = (h_v_*R*h_v_.transpose()).inverse(); + K_ = (h_x_.transpose() * R_in * h_x_ + P_.inverse()).inverse() * h_x_.transpose() * R_in; + #endif + } + Matrix innovation; + z.boxminus(innovation, h(x_, valid)); + cov K_x = K_ * h_x_; + Matrix dx_ = K_ * innovation + (K_x - Matrix::Identity()) * dx_new; + state x_before = x_; + x_.boxplus(dx_); + + converg = true; + for(int i = 0; i < n ; i++) + { + if(std::fabs(dx_[i]) > limit[i]) + { + converg = false; + break; + } + } + + if(converg) t++; + + if(t > 1 || i == maximum_iter - 1) + { + L_ = P_; + + Matrix res_temp_SO3; + MTK::vect<3, scalar_type> seg_SO3; + for(typename std::vector >::iterator it = x_.SO3_state.begin(); it != x_.SO3_state.end(); it++) { + int idx = (*it).first; + for(int i = 0; i < 3; i++){ + seg_SO3(i) = dx_(i + idx); + } + res_temp_SO3 = A_matrix(seg_SO3).transpose(); + for(int i = 0; i < n; i++){ + L_. template block<3, 1>(idx, i) = res_temp_SO3 * (P_. template block<3, 1>(idx, i)); + } + if(n > l) + { + for(int i = 0; i < l; i++){ + K_. template block<3, 1>(idx, i) = res_temp_SO3 * (K_. template block<3, 1>(idx, i)); + } + } + else + { + for(int i = 0; i < n; i++){ + K_x. template block<3, 1>(idx, i) = res_temp_SO3 * (K_x. template block<3, 1>(idx, i)); + } + } + for(int i = 0; i < n; i++){ + L_. template block<1, 3>(i, idx) = (L_. template block<1, 3>(i, idx)) * res_temp_SO3.transpose(); + P_. template block<1, 3>(i, idx) = (P_. template block<1, 3>(i, idx)) * res_temp_SO3.transpose(); + } + } + + Matrix res_temp_S2; + MTK::vect<2, scalar_type> seg_S2; + for(typename std::vector >::iterator it = x_.S2_state.begin(); it != x_.S2_state.end(); it++) { + int idx = (*it).first; + + for(int i = 0; i < 2; i++){ + seg_S2(i) = dx_(i + idx); + } + + Eigen::Matrix Nx; + Eigen::Matrix Mx; + x_.S2_Nx_yy(Nx, idx); + x_propagated.S2_Mx(Mx, seg_S2, idx); + res_temp_S2 = Nx * Mx; + + for(int i = 0; i < n; i++){ + L_. template block<2, 1>(idx, i) = res_temp_S2 * (P_. template block<2, 1>(idx, i)); + } + if(n > l) + { + for(int i = 0; i < l; i++){ + K_. template block<2, 1>(idx, i) = res_temp_S2 * (K_. template block<2, 1>(idx, i)); + } + } + else + { + for(int i = 0; i < n; i++){ + K_x. template block<2, 1>(idx, i) = res_temp_S2 * (K_x. template block<2, 1>(idx, i)); + } + } + for(int i = 0; i < n; i++){ + L_. template block<1, 2>(i, idx) = (L_. template block<1, 2>(i, idx)) * res_temp_S2.transpose(); + P_. template block<1, 2>(i, idx) = (P_. template block<1, 2>(i, idx)) * res_temp_S2.transpose(); + } + } + if(n > l) + { + P_ = L_ - K_ * h_x_ * P_; + } + else + { + P_ = L_ - K_x * P_; + } + return; + } + } + } + + //iterated error state EKF update for measurement as a manifold. + //calculate measurement (z), estimate measurement (h), partial differention matrices (h_x, h_v) and the noise covariance (R) at the same time, by only one function. + void update_iterated_share() { + + if(!(is_same())){ + std::cerr << "the scalar type of measurment must be the same as the state" << std::endl; + std::exit(100); + } + + int t = 0; + share_datastruct _share; + _share.valid = true; + _share.converge = true; + state x_propagated = x_; + cov P_propagated = P_; + + for(int i=-1; i h_x_ = _share.h_x; + Matrix h_v_ = _share.h_v; + #endif + if(! _share.valid) + { + continue; + } + + P_ = P_propagated; + + Matrix res_temp_SO3; + MTK::vect<3, scalar_type> seg_SO3; + for (std::vector >::iterator it = x_.SO3_state.begin(); it != x_.SO3_state.end(); it++) { + int idx = (*it).first; + int dim = (*it).second; + for(int i = 0; i < 3; i++){ + seg_SO3(i) = dx(idx+i); + } + + res_temp_SO3 = A_matrix(seg_SO3).transpose(); + dx_new.template block<3, 1>(idx, 0) = res_temp_SO3 * dx.template block<3, 1>(idx, 0); + for(int i = 0; i < n; i++){ + P_. template block<3, 1>(idx, i) = res_temp_SO3 * (P_. template block<3, 1>(idx, i)); + } + for(int i = 0; i < n; i++){ + P_. template block<1, 3>(i, idx) =(P_. template block<1, 3>(i, idx)) * res_temp_SO3.transpose(); + } + } + + + Matrix res_temp_S2; + MTK::vect<2, scalar_type> seg_S2; + for (std::vector >::iterator it = x_.S2_state.begin(); it != x_.S2_state.end(); it++) { + int idx = (*it).first; + int dim = (*it).second; + for(int i = 0; i < 2; i++){ + seg_S2(i) = dx(idx + i); + } + + Eigen::Matrix Nx; + Eigen::Matrix Mx; + x_.S2_Nx_yy(Nx, idx); + x_propagated.S2_Mx(Mx, seg_S2, idx); + res_temp_S2 = Nx * Mx; + dx_new.template block<2, 1>(idx, 0) = res_temp_S2 * dx.template block<2, 1>(idx, 0); + for(int i = 0; i < n; i++){ + P_. template block<2, 1>(idx, i) = res_temp_S2 * (P_. template block<2, 1>(idx, i)); + } + for(int i = 0; i < n; i++){ + P_. template block<1, 2>(i, idx) = (P_. template block<1, 2>(i, idx)) * res_temp_S2.transpose(); + } + } + + Matrix K_; + if(n > l) + { + #ifdef USE_sparse + Matrix K_temp = h_x_ * P_ * h_x_.transpose(); + spMt R_temp = h_v_ * R_ * h_v_.transpose(); + K_temp += R_temp; + K_ = P_ * h_x_.transpose() * K_temp.inverse(); + #else + K_= P_ * h_x_.transpose() * (h_x_ * P_ * h_x_.transpose() + h_v_ * R * h_v_.transpose()).inverse(); + #endif + } + else + { + #ifdef USE_sparse + measurementnoisecovariance b = measurementnoisecovariance::Identity(); + Eigen::SparseQR, Eigen::COLAMDOrdering> solver; + solver.compute(R_); + measurementnoisecovariance R_in_temp = solver.solve(b); + spMt R_in = R_in_temp.sparseView(); + spMt K_temp = h_x_.transpose() * R_in * h_x_; + cov P_temp = P_.inverse(); + P_temp += K_temp; + K_ = P_temp.inverse() * h_x_.transpose() * R_in; + #else + measurementnoisecovariance R_in = (h_v_*R*h_v_.transpose()).inverse(); + K_ = (h_x_.transpose() * R_in * h_x_ + P_.inverse()).inverse() * h_x_.transpose() * R_in; + #endif + } + Matrix innovation; + z.boxminus(innovation, h); + cov K_x = K_ * h_x_; + Matrix dx_ = K_ * innovation + (K_x - Matrix::Identity()) * dx_new; + state x_before = x_; + x_.boxplus(dx_); + + _share.converge = true; + for(int i = 0; i < n ; i++) + { + if(std::fabs(dx_[i]) > limit[i]) + { + _share.converge = false; + break; + } + } + + if(_share.converge) t++; + + if(t > 1 || i == maximum_iter - 1) + { + L_ = P_; + + Matrix res_temp_SO3; + MTK::vect<3, scalar_type> seg_SO3; + for(typename std::vector >::iterator it = x_.SO3_state.begin(); it != x_.SO3_state.end(); it++) { + int idx = (*it).first; + for(int i = 0; i < 3; i++){ + seg_SO3(i) = dx_(i + idx); + } + res_temp_SO3 = A_matrix(seg_SO3).transpose(); + for(int i = 0; i < n; i++){ + L_. template block<3, 1>(idx, i) = res_temp_SO3 * (P_. template block<3, 1>(idx, i)); + } + if(n > l) + { + for(int i = 0; i < l; i++){ + K_. template block<3, 1>(idx, i) = res_temp_SO3 * (K_. template block<3, 1>(idx, i)); + } + } + else + { + for(int i = 0; i < n; i++){ + K_x. template block<3, 1>(idx, i) = res_temp_SO3 * (K_x. template block<3, 1>(idx, i)); + } + } + for(int i = 0; i < n; i++){ + L_. template block<1, 3>(i, idx) = (L_. template block<1, 3>(i, idx)) * res_temp_SO3.transpose(); + P_. template block<1, 3>(i, idx) = (P_. template block<1, 3>(i, idx)) * res_temp_SO3.transpose(); + } + } + + Matrix res_temp_S2; + MTK::vect<2, scalar_type> seg_S2; + for(typename std::vector >::iterator it = x_.S2_state.begin(); it != x_.S2_state.end(); it++) { + int idx = (*it).first; + + for(int i = 0; i < 2; i++){ + seg_S2(i) = dx_(i + idx); + } + + Eigen::Matrix Nx; + Eigen::Matrix Mx; + x_.S2_Nx_yy(Nx, idx); + x_propagated.S2_Mx(Mx, seg_S2, idx); + res_temp_S2 = Nx * Mx; + + for(int i = 0; i < n; i++){ + L_. template block<2, 1>(idx, i) = res_temp_S2 * (P_. template block<2, 1>(idx, i)); + } + if(n > l) + { + for(int i = 0; i < l; i++){ + K_. template block<2, 1>(idx, i) = res_temp_S2 * (K_. template block<2, 1>(idx, i)); + } + } + else + { + for(int i = 0; i < n; i++){ + K_x. template block<2, 1>(idx, i) = res_temp_S2 * (K_x. template block<2, 1>(idx, i)); + } + } + for(int i = 0; i < n; i++){ + L_. template block<1, 2>(i, idx) = (L_. template block<1, 2>(i, idx)) * res_temp_S2.transpose(); + P_. template block<1, 2>(i, idx) = (P_. template block<1, 2>(i, idx)) * res_temp_S2.transpose(); + } + } + if(n > l) + { + P_ = L_ - K_ * h_x_ * P_; + } + else + { + P_ = L_ - K_x * P_; + } + return; + } + } + } + + //iterated error state EKF update for measurement as an Eigen matrix whose dimension is changing. + void update_iterated_dyn(Eigen::Matrix z, measurementnoisecovariance_dyn R) { + + int t = 0; + bool valid = true; + bool converg = true; + state x_propagated = x_; + cov P_propagated = P_; + int dof_Measurement; + int dof_Measurement_noise = R.rows(); + for(int i=-1; i h_x_ = h_x_dyn(x_, valid); + Matrix h_v_ = h_v_dyn(x_, valid); + #endif + Matrix h_ = h_dyn(x_, valid); + dof_Measurement = h_.rows(); + vectorized_state dx, dx_new; + x_.boxminus(dx, x_propagated); + dx_new = dx; + if(! valid) + { + continue; + } + + P_ = P_propagated; + Matrix res_temp_SO3; + MTK::vect<3, scalar_type> seg_SO3; + for (std::vector >::iterator it = x_.SO3_state.begin(); it != x_.SO3_state.end(); it++) { + int idx = (*it).first; + int dim = (*it).second; + for(int i = 0; i < 3; i++){ + seg_SO3(i) = dx(idx+i); + } + + res_temp_SO3 = MTK::A_matrix(seg_SO3).transpose(); + dx_new.template block<3, 1>(idx, 0) = res_temp_SO3 * dx_new.template block<3, 1>(idx, 0); + for(int i = 0; i < n; i++){ + P_. template block<3, 1>(idx, i) = res_temp_SO3 * (P_. template block<3, 1>(idx, i)); + } + for(int i = 0; i < n; i++){ + P_. template block<1, 3>(i, idx) =(P_. template block<1, 3>(i, idx)) * res_temp_SO3.transpose(); + } + } + + Matrix res_temp_S2; + MTK::vect<2, scalar_type> seg_S2; + for (std::vector >::iterator it = x_.S2_state.begin(); it != x_.S2_state.end(); it++) { + int idx = (*it).first; + int dim = (*it).second; + for(int i = 0; i < 2; i++){ + seg_S2(i) = dx(idx + i); + } + + Eigen::Matrix Nx; + Eigen::Matrix Mx; + x_.S2_Nx_yy(Nx, idx); + x_propagated.S2_Mx(Mx, seg_S2, idx); + res_temp_S2 = Nx * Mx; + dx_new.template block<2, 1>(idx, 0) = res_temp_S2 * dx_new.template block<2, 1>(idx, 0); + for(int i = 0; i < n; i++){ + P_. template block<2, 1>(idx, i) = res_temp_S2 * (P_. template block<2, 1>(idx, i)); + } + for(int i = 0; i < n; i++){ + P_. template block<1, 2>(i, idx) = (P_. template block<1, 2>(i, idx)) * res_temp_S2.transpose(); + } + } + + Matrix K_; + if(n > dof_Measurement) + { + #ifdef USE_sparse + Matrix K_temp = h_x_ * P_ * h_x_.transpose(); + spMt R_temp = h_v_ * R_ * h_v_.transpose(); + K_temp += R_temp; + K_ = P_ * h_x_.transpose() * K_temp.inverse(); + #else + K_= P_ * h_x_.transpose() * (h_x_ * P_ * h_x_.transpose() + h_v_ * R * h_v_.transpose()).inverse(); + #endif + } + else + { + #ifdef USE_sparse + Eigen::Matrix b = Eigen::Matrix::Identity(dof_Measurement_noise, dof_Measurement_noise); + Eigen::SparseQR, Eigen::COLAMDOrdering> solver; + solver.compute(R_); + Eigen::Matrix R_in_temp = solver.solve(b); + spMt R_in = R_in_temp.sparseView(); + spMt K_temp = h_x_.transpose() * R_in * h_x_; + cov P_temp = P_.inverse(); + P_temp += K_temp; + K_ = P_temp.inverse() * h_x_.transpose() * R_in; + #else + Eigen::Matrix R_in = (h_v_*R*h_v_.transpose()).inverse(); + K_ = (h_x_.transpose() * R_in * h_x_ + P_.inverse()).inverse() * h_x_.transpose() * R_in; + #endif + } + cov K_x = K_ * h_x_; + Matrix dx_ = K_ * (z - h_) + (K_x - Matrix::Identity()) * dx_new; + state x_before = x_; + x_.boxplus(dx_); + converg = true; + for(int i = 0; i < n ; i++) + { + if(std::fabs(dx_[i]) > limit[i]) + { + converg = false; + break; + } + } + if(converg) t++; + if(t > 1 || i == maximum_iter - 1) + { + L_ = P_; + std::cout << "iteration time:" << t << "," << i << std::endl; + + Matrix res_temp_SO3; + MTK::vect<3, scalar_type> seg_SO3; + for(typename std::vector >::iterator it = x_.SO3_state.begin(); it != x_.SO3_state.end(); it++) { + int idx = (*it).first; + for(int i = 0; i < 3; i++){ + seg_SO3(i) = dx_(i + idx); + } + res_temp_SO3 = MTK::A_matrix(seg_SO3).transpose(); + for(int i = 0; i < n; i++){ + L_. template block<3, 1>(idx, i) = res_temp_SO3 * (P_. template block<3, 1>(idx, i)); + } + if(n > dof_Measurement) + { + for(int i = 0; i < dof_Measurement; i++){ + K_. template block<3, 1>(idx, i) = res_temp_SO3 * (K_. template block<3, 1>(idx, i)); + } + } + else + { + for(int i = 0; i < n; i++){ + K_x. template block<3, 1>(idx, i) = res_temp_SO3 * (K_x. template block<3, 1>(idx, i)); + } + } + for(int i = 0; i < n; i++){ + L_. template block<1, 3>(i, idx) = (L_. template block<1, 3>(i, idx)) * res_temp_SO3.transpose(); + P_. template block<1, 3>(i, idx) = (P_. template block<1, 3>(i, idx)) * res_temp_SO3.transpose(); + } + } + + Matrix res_temp_S2; + MTK::vect<2, scalar_type> seg_S2; + for(typename std::vector >::iterator it = x_.S2_state.begin(); it != x_.S2_state.end(); it++) { + int idx = (*it).first; + + for(int i = 0; i < 2; i++){ + seg_S2(i) = dx_(i + idx); + } + + Eigen::Matrix Nx; + Eigen::Matrix Mx; + x_.S2_Nx_yy(Nx, idx); + x_propagated.S2_Mx(Mx, seg_S2, idx); + res_temp_S2 = Nx * Mx; + + for(int i = 0; i < n; i++){ + L_. template block<2, 1>(idx, i) = res_temp_S2 * (P_. template block<2, 1>(idx, i)); + } + if(n > dof_Measurement) + { + for(int i = 0; i < dof_Measurement; i++){ + K_. template block<2, 1>(idx, i) = res_temp_S2 * (K_. template block<2, 1>(idx, i)); + } + } + else + { + for(int i = 0; i < n; i++){ + K_x. template block<2, 1>(idx, i) = res_temp_S2 * (K_x. template block<2, 1>(idx, i)); + } + } + for(int i = 0; i < n; i++){ + L_. template block<1, 2>(i, idx) = (L_. template block<1, 2>(i, idx)) * res_temp_S2.transpose(); + P_. template block<1, 2>(i, idx) = (P_. template block<1, 2>(i, idx)) * res_temp_S2.transpose(); + } + } + if(n > dof_Measurement) + { + P_ = L_ - K_*h_x_*P_; + } + else + { + P_ = L_ - K_x * P_; + } + return; + } + } + } + //iterated error state EKF update for measurement as an Eigen matrix whose dimension is changing. + //calculate measurement (z), estimate measurement (h), partial differention matrices (h_x, h_v) and the noise covariance (R) at the same time, by only one function. + void update_iterated_dyn_share() { + + int t = 0; + dyn_share_datastruct dyn_share; + dyn_share.valid = true; + dyn_share.converge = true; + state x_propagated = x_; + cov P_propagated = P_; + int dof_Measurement; + int dof_Measurement_noise; + for(int i=-1; i h = h_dyn_share (x_, dyn_share); + Matrix z = dyn_share.z; + Matrix h = dyn_share.h; + #ifdef USE_sparse + spMt h_x = dyn_share.h_x.sparseView(); + spMt h_v = dyn_share.h_v.sparseView(); + spMt R_ = dyn_share.R.sparseView(); + #else + Matrix R = dyn_share.R; + Matrix h_x = dyn_share.h_x; + Matrix h_v = dyn_share.h_v; + #endif + dof_Measurement = h_x.rows(); + dof_Measurement_noise = dyn_share.R.rows(); + vectorized_state dx, dx_new; + x_.boxminus(dx, x_propagated); + dx_new = dx; + if(! (dyn_share.valid)) + { + continue; + } + + P_ = P_propagated; + Matrix res_temp_SO3; + MTK::vect<3, scalar_type> seg_SO3; + for (std::vector >::iterator it = x_.SO3_state.begin(); it != x_.SO3_state.end(); it++) { + int idx = (*it).first; + int dim = (*it).second; + for(int i = 0; i < 3; i++){ + seg_SO3(i) = dx(idx+i); + } + + res_temp_SO3 = MTK::A_matrix(seg_SO3).transpose(); + dx_new.template block<3, 1>(idx, 0) = res_temp_SO3 * dx_new.template block<3, 1>(idx, 0); + for(int i = 0; i < n; i++){ + P_. template block<3, 1>(idx, i) = res_temp_SO3 * (P_. template block<3, 1>(idx, i)); + } + for(int i = 0; i < n; i++){ + P_. template block<1, 3>(i, idx) =(P_. template block<1, 3>(i, idx)) * res_temp_SO3.transpose(); + } + } + + Matrix res_temp_S2; + MTK::vect<2, scalar_type> seg_S2; + for (std::vector >::iterator it = x_.S2_state.begin(); it != x_.S2_state.end(); it++) { + int idx = (*it).first; + int dim = (*it).second; + for(int i = 0; i < 2; i++){ + seg_S2(i) = dx(idx + i); + } + + Eigen::Matrix Nx; + Eigen::Matrix Mx; + x_.S2_Nx_yy(Nx, idx); + x_propagated.S2_Mx(Mx, seg_S2, idx); + res_temp_S2 = Nx * Mx; + dx_new.template block<2, 1>(idx, 0) = res_temp_S2 * dx_new.template block<2, 1>(idx, 0); + for(int i = 0; i < n; i++){ + P_. template block<2, 1>(idx, i) = res_temp_S2 * (P_. template block<2, 1>(idx, i)); + } + for(int i = 0; i < n; i++){ + P_. template block<1, 2>(i, idx) = (P_. template block<1, 2>(i, idx)) * res_temp_S2.transpose(); + } + } + + Matrix K_; + if(n > dof_Measurement) + { + #ifdef USE_sparse + Matrix K_temp = h_x * P_ * h_x.transpose(); + spMt R_temp = h_v * R_ * h_v.transpose(); + K_temp += R_temp; + K_ = P_ * h_x.transpose() * K_temp.inverse(); + #else + K_= P_ * h_x.transpose() * (h_x * P_ * h_x.transpose() + h_v * R * h_v.transpose()).inverse(); + #endif + } + else + { + #ifdef USE_sparse + Eigen::Matrix b = Eigen::Matrix::Identity(dof_Measurement_noise, dof_Measurement_noise); + Eigen::SparseQR, Eigen::COLAMDOrdering> solver; + solver.compute(R_); + Eigen::Matrix R_in_temp = solver.solve(b); + spMt R_in = R_in_temp.sparseView(); + spMt K_temp = h_x.transpose() * R_in * h_x; + cov P_temp = P_.inverse(); + P_temp += K_temp; + K_ = P_temp.inverse() * h_x.transpose() * R_in; + #else + Eigen::Matrix R_in = (h_v*R*h_v.transpose()).inverse(); + K_ = (h_x.transpose() * R_in * h_x + P_.inverse()).inverse() * h_x.transpose() * R_in; + #endif + } + + cov K_x = K_ * h_x; + Matrix dx_ = K_ * (z - h) + (K_x - Matrix::Identity()) * dx_new; + state x_before = x_; + x_.boxplus(dx_); + dyn_share.converge = true; + for(int i = 0; i < n ; i++) + { + if(std::fabs(dx_[i]) > limit[i]) + { + dyn_share.converge = false; + break; + } + } + if(dyn_share.converge) t++; + if(t > 1 || i == maximum_iter - 1) + { + L_ = P_; + std::cout << "iteration time:" << t << "," << i << std::endl; + + Matrix res_temp_SO3; + MTK::vect<3, scalar_type> seg_SO3; + for(typename std::vector >::iterator it = x_.SO3_state.begin(); it != x_.SO3_state.end(); it++) { + int idx = (*it).first; + for(int i = 0; i < 3; i++){ + seg_SO3(i) = dx_(i + idx); + } + res_temp_SO3 = MTK::A_matrix(seg_SO3).transpose(); + for(int i = 0; i < int(n); i++){ + L_. template block<3, 1>(idx, i) = res_temp_SO3 * (P_. template block<3, 1>(idx, i)); + } + if(n > dof_Measurement) + { + for(int i = 0; i < dof_Measurement; i++){ + K_. template block<3, 1>(idx, i) = res_temp_SO3 * (K_. template block<3, 1>(idx, i)); + } + } + else + { + for(int i = 0; i < n; i++){ + K_x. template block<3, 1>(idx, i) = res_temp_SO3 * (K_x. template block<3, 1>(idx, i)); + } + } + for(int i = 0; i < n; i++){ + L_. template block<1, 3>(i, idx) = (L_. template block<1, 3>(i, idx)) * res_temp_SO3.transpose(); + P_. template block<1, 3>(i, idx) = (P_. template block<1, 3>(i, idx)) * res_temp_SO3.transpose(); + } + } + + Matrix res_temp_S2; + MTK::vect<2, scalar_type> seg_S2; + for(typename std::vector >::iterator it = x_.S2_state.begin(); it != x_.S2_state.end(); it++) { + int idx = (*it).first; + + for(int i = 0; i < 2; i++){ + seg_S2(i) = dx_(i + idx); + } + + Eigen::Matrix Nx; + Eigen::Matrix Mx; + x_.S2_Nx_yy(Nx, idx); + x_propagated.S2_Mx(Mx, seg_S2, idx); + res_temp_S2 = Nx * Mx; + + for(int i = 0; i < n; i++){ + L_. template block<2, 1>(idx, i) = res_temp_S2 * (P_. template block<2, 1>(idx, i)); + } + if(n > dof_Measurement) + { + for(int i = 0; i < dof_Measurement; i++){ + K_. template block<2, 1>(idx, i) = res_temp_S2 * (K_. template block<2, 1>(idx, i)); + } + } + else + { + for(int i = 0; i < n; i++){ + K_x. template block<2, 1>(idx, i) = res_temp_S2 * (K_x. template block<2, 1>(idx, i)); + } + } + for(int i = 0; i < n; i++){ + L_. template block<1, 2>(i, idx) = (L_. template block<1, 2>(i, idx)) * res_temp_S2.transpose(); + P_. template block<1, 2>(i, idx) = (P_. template block<1, 2>(i, idx)) * res_temp_S2.transpose(); + } + } + if(n > dof_Measurement) + { + P_ = L_ - K_*h_x*P_; + } + else + { + P_ = L_ - K_x * P_; + } + return; + } + } + } + + //iterated error state EKF update for measurement as a dynamic manifold, whose dimension or type is changing. + //the measurement and the measurement model are received in a dynamic manner. + template + void update_iterated_dyn_runtime(measurement_runtime z, measurementnoisecovariance_dyn R, measurementModel_runtime h_runtime) { + + int t = 0; + bool valid = true; + bool converg = true; + state x_propagated = x_; + cov P_propagated = P_; + int dof_Measurement; + int dof_Measurement_noise; + for(int i=-1; i h_x_ = h_x_dyn(x_, valid); + Matrix h_v_ = h_v_dyn(x_, valid); + #endif + measurement_runtime h_ = h_runtime(x_, valid); + dof_Measurement = measurement_runtime::DOF; + dof_Measurement_noise = R.rows(); + vectorized_state dx, dx_new; + x_.boxminus(dx, x_propagated); + dx_new = dx; + if(! valid) + { + continue; + } + + P_ = P_propagated; + Matrix res_temp_SO3; + MTK::vect<3, scalar_type> seg_SO3; + for (std::vector >::iterator it = x_.SO3_state.begin(); it != x_.SO3_state.end(); it++) { + int idx = (*it).first; + int dim = (*it).second; + for(int i = 0; i < 3; i++){ + seg_SO3(i) = dx(idx+i); + } + + res_temp_SO3 = MTK::A_matrix(seg_SO3).transpose(); + dx_new.template block<3, 1>(idx, 0) = res_temp_SO3 * dx_new.template block<3, 1>(idx, 0); + for(int i = 0; i < n; i++){ + P_. template block<3, 1>(idx, i) = res_temp_SO3 * (P_. template block<3, 1>(idx, i)); + } + for(int i = 0; i < n; i++){ + P_. template block<1, 3>(i, idx) =(P_. template block<1, 3>(i, idx)) * res_temp_SO3.transpose(); + } + } + + Matrix res_temp_S2; + MTK::vect<2, scalar_type> seg_S2; + for (std::vector >::iterator it = x_.S2_state.begin(); it != x_.S2_state.end(); it++) { + int idx = (*it).first; + int dim = (*it).second; + for(int i = 0; i < 2; i++){ + seg_S2(i) = dx(idx + i); + } + + Eigen::Matrix Nx; + Eigen::Matrix Mx; + x_.S2_Nx_yy(Nx, idx); + x_propagated.S2_Mx(Mx, seg_S2, idx); + res_temp_S2 = Nx * Mx; + dx_new.template block<2, 1>(idx, 0) = res_temp_S2 * dx_new.template block<2, 1>(idx, 0); + for(int i = 0; i < n; i++){ + P_. template block<2, 1>(idx, i) = res_temp_S2 * (P_. template block<2, 1>(idx, i)); + } + for(int i = 0; i < n; i++){ + P_. template block<1, 2>(i, idx) = (P_. template block<1, 2>(i, idx)) * res_temp_S2.transpose(); + } + } + + Matrix K_; + if(n > dof_Measurement) + { + #ifdef USE_sparse + Matrix K_temp = h_x_ * P_ * h_x_.transpose(); + spMt R_temp = h_v_ * R_ * h_v_.transpose(); + K_temp += R_temp; + K_ = P_ * h_x_.transpose() * K_temp.inverse(); + #else + K_= P_ * h_x_.transpose() * (h_x_ * P_ * h_x_.transpose() + h_v_ * R * h_v_.transpose()).inverse(); + #endif + } + else + { + #ifdef USE_sparse + Eigen::Matrix b = Eigen::Matrix::Identity(dof_Measurement_noise, dof_Measurement_noise); + Eigen::SparseQR, Eigen::COLAMDOrdering> solver; + solver.compute(R_); + Eigen::Matrix R_in_temp = solver.solve(b); + spMt R_in = R_in_temp.sparseView(); + spMt K_temp = h_x_.transpose() * R_in * h_x_; + cov P_temp = P_.inverse(); + P_temp += K_temp; + K_ = P_temp.inverse() * h_x_.transpose() * R_in; + #else + Eigen::Matrix R_in = (h_v_*R*h_v_.transpose()).inverse(); + K_ = (h_x_.transpose() * R_in * h_x_ + P_.inverse()).inverse() * h_x_.transpose() * R_in; + #endif + } + cov K_x = K_ * h_x_; + Eigen::Matrix innovation; + z.boxminus(innovation, h_); + Matrix dx_ = K_ * innovation + (K_x - Matrix::Identity()) * dx_new; + state x_before = x_; + x_.boxplus(dx_); + converg = true; + for(int i = 0; i < n ; i++) + { + if(std::fabs(dx_[i]) > limit[i]) + { + converg = false; + break; + } + } + if(converg) t++; + if(t > 1 || i == maximum_iter - 1) + { + L_ = P_; + std::cout << "iteration time:" << t << "," << i << std::endl; + + Matrix res_temp_SO3; + MTK::vect<3, scalar_type> seg_SO3; + for(typename std::vector >::iterator it = x_.SO3_state.begin(); it != x_.SO3_state.end(); it++) { + int idx = (*it).first; + for(int i = 0; i < 3; i++){ + seg_SO3(i) = dx_(i + idx); + } + res_temp_SO3 = MTK::A_matrix(seg_SO3).transpose(); + for(int i = 0; i < n; i++){ + L_. template block<3, 1>(idx, i) = res_temp_SO3 * (P_. template block<3, 1>(idx, i)); + } + if(n > dof_Measurement) + { + for(int i = 0; i < dof_Measurement; i++){ + K_. template block<3, 1>(idx, i) = res_temp_SO3 * (K_. template block<3, 1>(idx, i)); + } + } + else + { + for(int i = 0; i < n; i++){ + K_x. template block<3, 1>(idx, i) = res_temp_SO3 * (K_x. template block<3, 1>(idx, i)); + } + } + for(int i = 0; i < n; i++){ + L_. template block<1, 3>(i, idx) = (L_. template block<1, 3>(i, idx)) * res_temp_SO3.transpose(); + P_. template block<1, 3>(i, idx) = (P_. template block<1, 3>(i, idx)) * res_temp_SO3.transpose(); + } + } + + Matrix res_temp_S2; + MTK::vect<2, scalar_type> seg_S2; + for(typename std::vector >::iterator it = x_.S2_state.begin(); it != x_.S2_state.end(); it++) { + int idx = (*it).first; + + for(int i = 0; i < 2; i++){ + seg_S2(i) = dx_(i + idx); + } + + Eigen::Matrix Nx; + Eigen::Matrix Mx; + x_.S2_Nx_yy(Nx, idx); + x_propagated.S2_Mx(Mx, seg_S2, idx); + res_temp_S2 = Nx * Mx; + + for(int i = 0; i < n; i++){ + L_. template block<2, 1>(idx, i) = res_temp_S2 * (P_. template block<2, 1>(idx, i)); + } + if(n > dof_Measurement) + { + for(int i = 0; i < dof_Measurement; i++){ + K_. template block<2, 1>(idx, i) = res_temp_S2 * (K_. template block<2, 1>(idx, i)); + } + } + else + { + for(int i = 0; i < n; i++){ + K_x. template block<2, 1>(idx, i) = res_temp_S2 * (K_x. template block<2, 1>(idx, i)); + } + } + for(int i = 0; i < n; i++){ + L_. template block<1, 2>(i, idx) = (L_. template block<1, 2>(i, idx)) * res_temp_S2.transpose(); + P_. template block<1, 2>(i, idx) = (P_. template block<1, 2>(i, idx)) * res_temp_S2.transpose(); + } + } + if(n > dof_Measurement) + { + P_ = L_ - K_*h_x_*P_; + } + else + { + P_ = L_ - K_x * P_; + } + return; + } + } + } + + //iterated error state EKF update for measurement as a dynamic manifold, whose dimension or type is changing. + //the measurement and the measurement model are received in a dynamic manner. + //calculate measurement (z), estimate measurement (h), partial differention matrices (h_x, h_v) and the noise covariance (R) at the same time, by only one function. + template + void update_iterated_dyn_runtime_share(measurement_runtime z, measurementModel_dyn_runtime_share h) { + + int t = 0; + dyn_runtime_share_datastruct dyn_share; + dyn_share.valid = true; + dyn_share.converge = true; + state x_propagated = x_; + cov P_propagated = P_; + int dof_Measurement; + int dof_Measurement_noise; + for(int i=-1; i R = dyn_share.R; + Matrix h_x = dyn_share.h_x; + Matrix h_v = dyn_share.h_v; + #endif + dof_Measurement = measurement_runtime::DOF; + dof_Measurement_noise = dyn_share.R.rows(); + vectorized_state dx, dx_new; + x_.boxminus(dx, x_propagated); + dx_new = dx; + if(! (dyn_share.valid)) + { + continue; + } + + P_ = P_propagated; + Matrix res_temp_SO3; + MTK::vect<3, scalar_type> seg_SO3; + for (std::vector >::iterator it = x_.SO3_state.begin(); it != x_.SO3_state.end(); it++) { + int idx = (*it).first; + int dim = (*it).second; + for(int i = 0; i < 3; i++){ + seg_SO3(i) = dx(idx+i); + } + + res_temp_SO3 = MTK::A_matrix(seg_SO3).transpose(); + dx_new.template block<3, 1>(idx, 0) = res_temp_SO3 * dx_new.template block<3, 1>(idx, 0); + for(int i = 0; i < n; i++){ + P_. template block<3, 1>(idx, i) = res_temp_SO3 * (P_. template block<3, 1>(idx, i)); + } + for(int i = 0; i < n; i++){ + P_. template block<1, 3>(i, idx) =(P_. template block<1, 3>(i, idx)) * res_temp_SO3.transpose(); + } + } + + Matrix res_temp_S2; + MTK::vect<2, scalar_type> seg_S2; + for (std::vector >::iterator it = x_.S2_state.begin(); it != x_.S2_state.end(); it++) { + int idx = (*it).first; + int dim = (*it).second; + for(int i = 0; i < 2; i++){ + seg_S2(i) = dx(idx + i); + } + + Eigen::Matrix Nx; + Eigen::Matrix Mx; + x_.S2_Nx_yy(Nx, idx); + x_propagated.S2_Mx(Mx, seg_S2, idx); + res_temp_S2 = Nx * Mx; + dx_new.template block<2, 1>(idx, 0) = res_temp_S2 * dx_new.template block<2, 1>(idx, 0); + for(int i = 0; i < n; i++){ + P_. template block<2, 1>(idx, i) = res_temp_S2 * (P_. template block<2, 1>(idx, i)); + } + for(int i = 0; i < n; i++){ + P_. template block<1, 2>(i, idx) = (P_. template block<1, 2>(i, idx)) * res_temp_S2.transpose(); + } + } + + Matrix K_; + if(n > dof_Measurement) + { + #ifdef USE_sparse + Matrix K_temp = h_x * P_ * h_x.transpose(); + spMt R_temp = h_v * R_ * h_v.transpose(); + K_temp += R_temp; + K_ = P_ * h_x.transpose() * K_temp.inverse(); + #else + K_= P_ * h_x.transpose() * (h_x * P_ * h_x.transpose() + h_v * R * h_v.transpose()).inverse(); + #endif + } + else + { + #ifdef USE_sparse + Eigen::Matrix b = Eigen::Matrix::Identity(dof_Measurement_noise, dof_Measurement_noise); + Eigen::SparseQR, Eigen::COLAMDOrdering> solver; + solver.compute(R_); + Eigen::Matrix R_in_temp = solver.solve(b); + spMt R_in =R_in_temp.sparseView(); + spMt K_temp = h_x.transpose() * R_in * h_x; + cov P_temp = P_.inverse(); + P_temp += K_temp; + K_ = P_temp.inverse() * h_x.transpose() * R_in; + #else + Eigen::Matrix R_in = (h_v*R*h_v.transpose()).inverse(); + K_ = (h_x.transpose() * R_in * h_x + P_.inverse()).inverse() * h_x.transpose() * R_in; + #endif + } + cov K_x = K_ * h_x; + Eigen::Matrix innovation; + z.boxminus(innovation, h_); + Matrix dx_ = K_ * innovation + (K_x - Matrix::Identity()) * dx_new; + state x_before = x_; + x_.boxplus(dx_); + dyn_share.converge = true; + for(int i = 0; i < n ; i++) + { + if(std::fabs(dx_[i]) > limit[i]) + { + dyn_share.converge = false; + break; + } + } + if(dyn_share.converge) t++; + if(t > 1 || i == maximum_iter - 1) + { + L_ = P_; + std::cout << "iteration time:" << t << "," << i << std::endl; + + Matrix res_temp_SO3; + MTK::vect<3, scalar_type> seg_SO3; + for(typename std::vector >::iterator it = x_.SO3_state.begin(); it != x_.SO3_state.end(); it++) { + int idx = (*it).first; + for(int i = 0; i < 3; i++){ + seg_SO3(i) = dx_(i + idx); + } + res_temp_SO3 = MTK::A_matrix(seg_SO3).transpose(); + for(int i = 0; i < int(n); i++){ + L_. template block<3, 1>(idx, i) = res_temp_SO3 * (P_. template block<3, 1>(idx, i)); + } + if(n > dof_Measurement) + { + for(int i = 0; i < dof_Measurement; i++){ + K_. template block<3, 1>(idx, i) = res_temp_SO3 * (K_. template block<3, 1>(idx, i)); + } + } + else + { + for(int i = 0; i < n; i++){ + K_x. template block<3, 1>(idx, i) = res_temp_SO3 * (K_x. template block<3, 1>(idx, i)); + } + } + for(int i = 0; i < n; i++){ + L_. template block<1, 3>(i, idx) = (L_. template block<1, 3>(i, idx)) * res_temp_SO3.transpose(); + P_. template block<1, 3>(i, idx) = (P_. template block<1, 3>(i, idx)) * res_temp_SO3.transpose(); + } + } + + Matrix res_temp_S2; + MTK::vect<2, scalar_type> seg_S2; + for(typename std::vector >::iterator it = x_.S2_state.begin(); it != x_.S2_state.end(); it++) { + int idx = (*it).first; + + for(int i = 0; i < 2; i++){ + seg_S2(i) = dx_(i + idx); + } + + Eigen::Matrix Nx; + Eigen::Matrix Mx; + x_.S2_Nx_yy(Nx, idx); + x_propagated.S2_Mx(Mx, seg_S2, idx); + res_temp_S2 = Nx * Mx; + + for(int i = 0; i < n; i++){ + L_. template block<2, 1>(idx, i) = res_temp_S2 * (P_. template block<2, 1>(idx, i)); + } + if(n > dof_Measurement) + { + for(int i = 0; i < dof_Measurement; i++){ + K_. template block<2, 1>(idx, i) = res_temp_S2 * (K_. template block<2, 1>(idx, i)); + } + } + else + { + for(int i = 0; i < n; i++){ + K_x. template block<2, 1>(idx, i) = res_temp_S2 * (K_x. template block<2, 1>(idx, i)); + } + } + for(int i = 0; i < n; i++){ + L_. template block<1, 2>(i, idx) = (L_. template block<1, 2>(i, idx)) * res_temp_S2.transpose(); + P_. template block<1, 2>(i, idx) = (P_. template block<1, 2>(i, idx)) * res_temp_S2.transpose(); + } + } + if(n > dof_Measurement) + { + P_ = L_ - K_*h_x * P_; + } + else + { + P_ = L_ - K_x * P_; + } + return; + } + } + } + + //iterated error state EKF update modified for one specific system. + void update_iterated_dyn_share_modified(double R, double &solve_time) { + + dyn_share_datastruct dyn_share; + dyn_share.valid = true; + dyn_share.converge = true; + int t = 0; + state x_propagated = x_; + cov P_propagated = P_; + int dof_Measurement; + + Matrix K_h; + Matrix K_x; + + vectorized_state dx_new = vectorized_state::Zero(); + for(int i=-1; i h = h_dyn_share(x_, dyn_share); + #ifdef USE_sparse + spMt h_x_ = dyn_share.h_x.sparseView(); + #else + Eigen::Matrix h_x_ = dyn_share.h_x; + #endif + double solve_start = omp_get_wtime(); + dof_Measurement = h_x_.rows(); + vectorized_state dx; + x_.boxminus(dx, x_propagated); + dx_new = dx; + + + + P_ = P_propagated; + + Matrix res_temp_SO3; + MTK::vect<3, scalar_type> seg_SO3; + for (std::vector >::iterator it = x_.SO3_state.begin(); it != x_.SO3_state.end(); it++) { + int idx = (*it).first; + int dim = (*it).second; + for(int i = 0; i < 3; i++){ + seg_SO3(i) = dx(idx+i); + } + + res_temp_SO3 = MTK::A_matrix(seg_SO3).transpose(); + dx_new.template block<3, 1>(idx, 0) = res_temp_SO3 * dx_new.template block<3, 1>(idx, 0); + for(int i = 0; i < n; i++){ + P_. template block<3, 1>(idx, i) = res_temp_SO3 * (P_. template block<3, 1>(idx, i)); + } + for(int i = 0; i < n; i++){ + P_. template block<1, 3>(i, idx) =(P_. template block<1, 3>(i, idx)) * res_temp_SO3.transpose(); + } + } + + Matrix res_temp_S2; + MTK::vect<2, scalar_type> seg_S2; + for (std::vector >::iterator it = x_.S2_state.begin(); it != x_.S2_state.end(); it++) { + int idx = (*it).first; + int dim = (*it).second; + for(int i = 0; i < 2; i++){ + seg_S2(i) = dx(idx + i); + } + + Eigen::Matrix Nx; + Eigen::Matrix Mx; + x_.S2_Nx_yy(Nx, idx); + x_propagated.S2_Mx(Mx, seg_S2, idx); + res_temp_S2 = Nx * Mx; + dx_new.template block<2, 1>(idx, 0) = res_temp_S2 * dx_new.template block<2, 1>(idx, 0); + for(int i = 0; i < n; i++){ + P_. template block<2, 1>(idx, i) = res_temp_S2 * (P_. template block<2, 1>(idx, i)); + } + for(int i = 0; i < n; i++){ + P_. template block<1, 2>(i, idx) = (P_. template block<1, 2>(i, idx)) * res_temp_S2.transpose(); + } + } + //Matrix K_; + //Matrix K_h; + //Matrix K_x; + + /* + if(n > dof_Measurement) + { + K_= P_ * h_x_.transpose() * (h_x_ * P_ * h_x_.transpose()/R + Eigen::Matrix::Identity(dof_Measurement, dof_Measurement)).inverse()/R; + } + else + { + K_= (h_x_.transpose() * h_x_ + (P_/R).inverse()).inverse()*h_x_.transpose(); + } + */ + + if(n > dof_Measurement) + { + //#ifdef USE_sparse + //Matrix K_temp = h_x * P_ * h_x.transpose(); + //spMt R_temp = h_v * R_ * h_v.transpose(); + //K_temp += R_temp; + Eigen::Matrix h_x_cur = Eigen::Matrix::Zero(dof_Measurement, n); + h_x_cur.topLeftCorner(dof_Measurement, 12) = h_x_; + /* + h_x_cur.col(0) = h_x_.col(0); + h_x_cur.col(1) = h_x_.col(1); + h_x_cur.col(2) = h_x_.col(2); + h_x_cur.col(3) = h_x_.col(3); + h_x_cur.col(4) = h_x_.col(4); + h_x_cur.col(5) = h_x_.col(5); + h_x_cur.col(6) = h_x_.col(6); + h_x_cur.col(7) = h_x_.col(7); + h_x_cur.col(8) = h_x_.col(8); + h_x_cur.col(9) = h_x_.col(9); + h_x_cur.col(10) = h_x_.col(10); + h_x_cur.col(11) = h_x_.col(11); + */ + + Matrix K_ = P_ * h_x_cur.transpose() * (h_x_cur * P_ * h_x_cur.transpose()/R + Eigen::Matrix::Identity(dof_Measurement, dof_Measurement)).inverse()/R; + K_h = K_ * dyn_share.h; + K_x = K_ * h_x_cur; + //#else + // K_= P_ * h_x.transpose() * (h_x * P_ * h_x.transpose() + h_v * R * h_v.transpose()).inverse(); + //#endif + } + else + { + #ifdef USE_sparse + //Eigen::Matrix b = Eigen::Matrix::Identity(); + //Eigen::SparseQR, Eigen::COLAMDOrdering> solver; + spMt A = h_x_.transpose() * h_x_; + cov P_temp = (P_/R).inverse(); + P_temp. template block<12, 12>(0, 0) += A; + P_temp = P_temp.inverse(); + /* + Eigen::Matrix h_x_cur = Eigen::Matrix::Zero(dof_Measurement, n); + h_x_cur.col(0) = h_x_.col(0); + h_x_cur.col(1) = h_x_.col(1); + h_x_cur.col(2) = h_x_.col(2); + h_x_cur.col(3) = h_x_.col(3); + h_x_cur.col(4) = h_x_.col(4); + h_x_cur.col(5) = h_x_.col(5); + h_x_cur.col(6) = h_x_.col(6); + h_x_cur.col(7) = h_x_.col(7); + h_x_cur.col(8) = h_x_.col(8); + h_x_cur.col(9) = h_x_.col(9); + h_x_cur.col(10) = h_x_.col(10); + h_x_cur.col(11) = h_x_.col(11); + */ + K_ = P_temp. template block(0, 0) * h_x_.transpose(); + K_x = cov::Zero(); + K_x. template block(0, 0) = P_inv. template block(0, 0) * HTH; + /* + solver.compute(R_); + Eigen::Matrix R_in_temp = solver.solve(b); + spMt R_in =R_in_temp.sparseView(); + spMt K_temp = h_x.transpose() * R_in * h_x; + cov P_temp = P_.inverse(); + P_temp += K_temp; + K_ = P_temp.inverse() * h_x.transpose() * R_in; + */ + #else + cov P_temp = (P_/R).inverse(); + //Eigen::Matrix h_T = h_x_.transpose(); + Eigen::Matrix HTH = h_x_.transpose() * h_x_; + P_temp. template block<12, 12>(0, 0) += HTH; + /* + Eigen::Matrix h_x_cur = Eigen::Matrix::Zero(dof_Measurement, n); + //std::cout << "line 1767" << std::endl; + h_x_cur.col(0) = h_x_.col(0); + h_x_cur.col(1) = h_x_.col(1); + h_x_cur.col(2) = h_x_.col(2); + h_x_cur.col(3) = h_x_.col(3); + h_x_cur.col(4) = h_x_.col(4); + h_x_cur.col(5) = h_x_.col(5); + h_x_cur.col(6) = h_x_.col(6); + h_x_cur.col(7) = h_x_.col(7); + h_x_cur.col(8) = h_x_.col(8); + h_x_cur.col(9) = h_x_.col(9); + h_x_cur.col(10) = h_x_.col(10); + h_x_cur.col(11) = h_x_.col(11); + */ + cov P_inv = P_temp.inverse(); + //std::cout << "line 1781" << std::endl; + K_h = P_inv. template block(0, 0) * h_x_.transpose() * dyn_share.h; + //std::cout << "line 1780" << std::endl; + //cov HTH_cur = cov::Zero(); + //HTH_cur. template block<12, 12>(0, 0) = HTH; + K_x.setZero(); // = cov::Zero(); + K_x. template block(0, 0) = P_inv. template block(0, 0) * HTH; + //K_= (h_x_.transpose() * h_x_ + (P_/R).inverse()).inverse()*h_x_.transpose(); + #endif + } + + //K_x = K_ * h_x_; + Matrix dx_ = K_h + (K_x - Matrix::Identity()) * dx_new; + state x_before = x_; + x_.boxplus(dx_); + dyn_share.converge = true; + for(int i = 0; i < n ; i++) + { + if(std::fabs(dx_[i]) > limit[i]) + { + dyn_share.converge = false; + break; + } + } + if(dyn_share.converge) t++; + + if(!t && i == maximum_iter - 2) + { + dyn_share.converge = true; + } + + if(t > 1 || i == maximum_iter - 1) + { + L_ = P_; + //std::cout << "iteration time" << t << "," << i << std::endl; + Matrix res_temp_SO3; + MTK::vect<3, scalar_type> seg_SO3; + for(typename std::vector >::iterator it = x_.SO3_state.begin(); it != x_.SO3_state.end(); it++) { + int idx = (*it).first; + for(int i = 0; i < 3; i++){ + seg_SO3(i) = dx_(i + idx); + } + res_temp_SO3 = MTK::A_matrix(seg_SO3).transpose(); + for(int i = 0; i < n; i++){ + L_. template block<3, 1>(idx, i) = res_temp_SO3 * (P_. template block<3, 1>(idx, i)); + } + // if(n > dof_Measurement) + // { + // for(int i = 0; i < dof_Measurement; i++){ + // K_.template block<3, 1>(idx, i) = res_temp_SO3 * (K_. template block<3, 1>(idx, i)); + // } + // } + // else + // { + for(int i = 0; i < 12; i++){ + K_x. template block<3, 1>(idx, i) = res_temp_SO3 * (K_x. template block<3, 1>(idx, i)); + } + //} + for(int i = 0; i < n; i++){ + L_. template block<1, 3>(i, idx) = (L_. template block<1, 3>(i, idx)) * res_temp_SO3.transpose(); + P_. template block<1, 3>(i, idx) = (P_. template block<1, 3>(i, idx)) * res_temp_SO3.transpose(); + } + } + + Matrix res_temp_S2; + MTK::vect<2, scalar_type> seg_S2; + for(typename std::vector >::iterator it = x_.S2_state.begin(); it != x_.S2_state.end(); it++) { + int idx = (*it).first; + + for(int i = 0; i < 2; i++){ + seg_S2(i) = dx_(i + idx); + } + + Eigen::Matrix Nx; + Eigen::Matrix Mx; + x_.S2_Nx_yy(Nx, idx); + x_propagated.S2_Mx(Mx, seg_S2, idx); + res_temp_S2 = Nx * Mx; + for(int i = 0; i < n; i++){ + L_. template block<2, 1>(idx, i) = res_temp_S2 * (P_. template block<2, 1>(idx, i)); + } + // if(n > dof_Measurement) + // { + // for(int i = 0; i < dof_Measurement; i++){ + // K_. template block<2, 1>(idx, i) = res_temp_S2 * (K_. template block<2, 1>(idx, i)); + // } + // } + // else + // { + for(int i = 0; i < 12; i++){ + K_x. template block<2, 1>(idx, i) = res_temp_S2 * (K_x. template block<2, 1>(idx, i)); + } + //} + for(int i = 0; i < n; i++){ + L_. template block<1, 2>(i, idx) = (L_. template block<1, 2>(i, idx)) * res_temp_S2.transpose(); + P_. template block<1, 2>(i, idx) = (P_. template block<1, 2>(i, idx)) * res_temp_S2.transpose(); + } + } + + // if(n > dof_Measurement) + // { + // Eigen::Matrix h_x_cur = Eigen::Matrix::Zero(dof_Measurement, n); + // h_x_cur.topLeftCorner(dof_Measurement, 12) = h_x_; + // /* + // h_x_cur.col(0) = h_x_.col(0); + // h_x_cur.col(1) = h_x_.col(1); + // h_x_cur.col(2) = h_x_.col(2); + // h_x_cur.col(3) = h_x_.col(3); + // h_x_cur.col(4) = h_x_.col(4); + // h_x_cur.col(5) = h_x_.col(5); + // h_x_cur.col(6) = h_x_.col(6); + // h_x_cur.col(7) = h_x_.col(7); + // h_x_cur.col(8) = h_x_.col(8); + // h_x_cur.col(9) = h_x_.col(9); + // h_x_cur.col(10) = h_x_.col(10); + // h_x_cur.col(11) = h_x_.col(11); + // */ + // P_ = L_ - K_*h_x_cur * P_; + // } + // else + //{ + P_ = L_ - K_x.template block(0, 0) * P_.template block<12, n>(0, 0); + //} + solve_time += omp_get_wtime() - solve_start; + return; + } + solve_time += omp_get_wtime() - solve_start; + } + } + + void change_x(state &input_state) + { + x_ = input_state; + if((!x_.vect_state.size())&&(!x_.SO3_state.size())&&(!x_.S2_state.size())) + { + x_.build_S2_state(); + x_.build_SO3_state(); + x_.build_vect_state(); + } + } + + void change_P(cov &input_cov) + { + P_ = input_cov; + } + + const state& get_x() const { + return x_; + } + const cov& get_P() const { + return P_; + } +private: + state x_; + measurement m_; + cov P_; + spMt l_; + spMt f_x_1; + spMt f_x_2; + cov F_x1 = cov::Identity(); + cov F_x2 = cov::Identity(); + cov L_ = cov::Identity(); + + processModel *f; + processMatrix1 *f_x; + processMatrix2 *f_w; + + measurementModel *h; + measurementMatrix1 *h_x; + measurementMatrix2 *h_v; + + measurementModel_dyn *h_dyn; + measurementMatrix1_dyn *h_x_dyn; + measurementMatrix2_dyn *h_v_dyn; + + measurementModel_share *h_share; + measurementModel_dyn_share *h_dyn_share; + + int maximum_iter = 0; + scalar_type limit[n]; + + template + T check_safe_update( T _temp_vec ) + { + T temp_vec = _temp_vec; + if ( std::isnan( temp_vec(0, 0) ) ) + { + temp_vec.setZero(); + return temp_vec; + } + double angular_dis = temp_vec.block( 0, 0, 3, 1 ).norm() * 57.3; + double pos_dis = temp_vec.block( 3, 0, 3, 1 ).norm(); + if ( angular_dis >= 20 || pos_dis > 1 ) + { + printf( "Angular dis = %.2f, pos dis = %.2f\r\n", angular_dis, pos_dis ); + temp_vec.setZero(); + } + return temp_vec; + } +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +} // namespace esekfom + +#endif // ESEKFOM_EKF_HPP diff --git a/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/esekfom/util.hpp b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/esekfom/util.hpp new file mode 100755 index 0000000..ab39fc4 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/esekfom/util.hpp @@ -0,0 +1,82 @@ +/* + * Copyright (c) 2019--2023, The University of Hong Kong + * All rights reserved. + * + * Author: Dongjiao HE + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef __MEKFOM_UTIL_HPP__ +#define __MEKFOM_UTIL_HPP__ + +#include +#include "../mtk/src/mtkmath.hpp" +namespace esekfom { + +template +class is_same { +public: + operator bool() { + return false; + } +}; +template +class is_same { +public: + operator bool() { + return true; + } +}; + +template +class is_double { +public: + operator bool() { + return false; + } +}; + +template<> +class is_double { +public: + operator bool() { + return true; + } +}; + +template +static T +id(const T &x) +{ + return x; +} + +} // namespace esekfom + +#endif // __MEKFOM_UTIL_HPP__ diff --git a/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/build_manifold.hpp b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/build_manifold.hpp new file mode 100755 index 0000000..2cdb106 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/build_manifold.hpp @@ -0,0 +1,229 @@ +// This is an advanced implementation of the algorithm described in the +// following paper: +// C. Hertzberg, R. Wagner, U. Frese, and L. Schroder. Integratinggeneric sensor fusion algorithms with sound state representationsthrough encapsulation of manifolds. +// CoRR, vol. abs/1107.1119, 2011.[Online]. Available: http://arxiv.org/abs/1107.1119 + +/* + * Copyright (c) 2019--2023, The University of Hong Kong + * All rights reserved. + * + * Modifier: Dongjiao HE + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * Copyright (c) 2008--2011, Universitaet Bremen + * All rights reserved. + * + * Author: Christoph Hertzberg + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file mtk/build_manifold.hpp + * @brief Macro to automatically construct compound manifolds. + * + */ +#ifndef MTK_AUTOCONSTRUCT_HPP_ +#define MTK_AUTOCONSTRUCT_HPP_ + +#include + +#include +#include +#include + +#include "src/SubManifold.hpp" +#include "startIdx.hpp" + +#ifndef PARSED_BY_DOXYGEN +//////// internals ////// + +#define MTK_APPLY_MACRO_ON_TUPLE(r, macro, tuple) macro tuple + +#define MTK_TRANSFORM_COMMA(macro, entries) BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_TRANSFORM_S(1, MTK_APPLY_MACRO_ON_TUPLE, macro, entries)) + +#define MTK_TRANSFORM(macro, entries) BOOST_PP_SEQ_FOR_EACH_R(1, MTK_APPLY_MACRO_ON_TUPLE, macro, entries) + +#define MTK_CONSTRUCTOR_ARG( type, id) const type& id = type() +#define MTK_CONSTRUCTOR_COPY( type, id) id(id) +#define MTK_BOXPLUS( type, id) id.boxplus(MTK::subvector(__vec, &self::id), __scale); +#define MTK_OPLUS( type, id) id.oplus(MTK::subvector_(__vec, &self::id), __scale); +#define MTK_BOXMINUS( type, id) id.boxminus(MTK::subvector(__res, &self::id), __oth.id); +#define MTK_S2_hat( type, id) if(id.IDX == idx){id.S2_hat(res);} +#define MTK_S2_Nx_yy( type, id) if(id.IDX == idx){id.S2_Nx_yy(res);} +#define MTK_S2_Mx( type, id) if(id.IDX == idx){id.S2_Mx(res, dx);} +#define MTK_OSTREAM( type, id) << __var.id << " " +#define MTK_ISTREAM( type, id) >> __var.id +#define MTK_S2_state( type, id) if(id.TYP == 1){S2_state.push_back(std::make_pair(id.IDX, id.DIM));} +#define MTK_SO3_state( type, id) if(id.TYP == 2){(SO3_state).push_back(std::make_pair(id.IDX, id.DIM));} +#define MTK_vect_state( type, id) if(id.TYP == 0){(vect_state).push_back(std::make_pair(std::make_pair(id.IDX, id.DIM), type::DOF));} + +#define MTK_SUBVARLIST(seq, S2state, SO3state) \ +BOOST_PP_FOR_1( \ + ( \ + BOOST_PP_SEQ_SIZE(seq), \ + BOOST_PP_SEQ_HEAD(seq), \ + BOOST_PP_SEQ_TAIL(seq) (~), \ + 0,\ + 0,\ + S2state,\ + SO3state ),\ + MTK_ENTRIES_TEST, MTK_ENTRIES_NEXT, MTK_ENTRIES_OUTPUT) + +#define MTK_PUT_TYPE(type, id, dof, dim, S2state, SO3state) \ + MTK::SubManifold id; +#define MTK_PUT_TYPE_AND_ENUM(type, id, dof, dim, S2state, SO3state) \ + MTK_PUT_TYPE(type, id, dof, dim, S2state, SO3state) \ + enum {DOF = type::DOF + dof}; \ + enum {DIM = type::DIM+dim}; \ + typedef type::scalar scalar; + +#define MTK_ENTRIES_OUTPUT(r, state) MTK_ENTRIES_OUTPUT_I state +#define MTK_ENTRIES_OUTPUT_I(s, head, seq, dof, dim, S2state, SO3state) \ + MTK_APPLY_MACRO_ON_TUPLE(~, \ + BOOST_PP_IF(BOOST_PP_DEC(s), MTK_PUT_TYPE, MTK_PUT_TYPE_AND_ENUM), \ + ( BOOST_PP_TUPLE_REM_2 head, dof, dim, S2state, SO3state)) + +#define MTK_ENTRIES_TEST(r, state) MTK_TUPLE_ELEM_4_0 state + +//! this used to be BOOST_PP_TUPLE_ELEM_4_0: +#define MTK_TUPLE_ELEM_4_0(a,b,c,d,e,f, g) a + +#define MTK_ENTRIES_NEXT(r, state) MTK_ENTRIES_NEXT_I state +#define MTK_ENTRIES_NEXT_I(len, head, seq, dof, dim, S2state, SO3state) ( \ + BOOST_PP_DEC(len), \ + BOOST_PP_SEQ_HEAD(seq), \ + BOOST_PP_SEQ_TAIL(seq), \ + dof + BOOST_PP_TUPLE_ELEM_2_0 head::DOF,\ + dim + BOOST_PP_TUPLE_ELEM_2_0 head::DIM,\ + S2state,\ + SO3state) + +#endif /* not PARSED_BY_DOXYGEN */ + + +/** + * Construct a manifold. + * @param name is the class-name of the manifold, + * @param entries is the list of sub manifolds + * + * Entries must be given in a list like this: + * @code + * typedef MTK::trafo > Pose; + * typedef MTK::vect Vec3; + * MTK_BUILD_MANIFOLD(imu_state, + * ((Pose, pose)) + * ((Vec3, vel)) + * ((Vec3, acc_bias)) + * ) + * @endcode + * Whitespace is optional, but the double parentheses are necessary. + * Construction is done entirely in preprocessor. + * After construction @a name is also a manifold. Its members can be + * accessed by names given in @a entries. + * + * @note Variable types are not allowed to have commas, thus types like + * @c vect need to be typedef'ed ahead. + */ +#define MTK_BUILD_MANIFOLD(name, entries) \ +struct name { \ + typedef name self; \ + std::vector > S2_state;\ + std::vector > SO3_state;\ + std::vector, int> > vect_state;\ + MTK_SUBVARLIST(entries, S2_state, SO3_state) \ + name ( \ + MTK_TRANSFORM_COMMA(MTK_CONSTRUCTOR_ARG, entries) \ + ) : \ + MTK_TRANSFORM_COMMA(MTK_CONSTRUCTOR_COPY, entries) {}\ + int getDOF() const { return DOF; } \ + void boxplus(const MTK::vectview & __vec, scalar __scale = 1 ) { \ + MTK_TRANSFORM(MTK_BOXPLUS, entries)\ + } \ + void oplus(const MTK::vectview & __vec, scalar __scale = 1 ) { \ + MTK_TRANSFORM(MTK_OPLUS, entries)\ + } \ + void boxminus(MTK::vectview __res, const name& __oth) const { \ + MTK_TRANSFORM(MTK_BOXMINUS, entries)\ + } \ + friend std::ostream& operator<<(std::ostream& __os, const name& __var){ \ + return __os MTK_TRANSFORM(MTK_OSTREAM, entries); \ + } \ + void build_S2_state(){\ + MTK_TRANSFORM(MTK_S2_state, entries)\ + }\ + void build_vect_state(){\ + MTK_TRANSFORM(MTK_vect_state, entries)\ + }\ + void build_SO3_state(){\ + MTK_TRANSFORM(MTK_SO3_state, entries)\ + }\ + void S2_hat(Eigen::Matrix &res, int idx) {\ + MTK_TRANSFORM(MTK_S2_hat, entries)\ + }\ + void S2_Nx_yy(Eigen::Matrix &res, int idx) {\ + MTK_TRANSFORM(MTK_S2_Nx_yy, entries)\ + }\ + void S2_Mx(Eigen::Matrix &res, Eigen::Matrix dx, int idx) {\ + MTK_TRANSFORM(MTK_S2_Mx, entries)\ + }\ + friend std::istream& operator>>(std::istream& __is, name& __var){ \ + return __is MTK_TRANSFORM(MTK_ISTREAM, entries); \ + } \ +}; + + + +#endif /*MTK_AUTOCONSTRUCT_HPP_*/ diff --git a/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/src/SubManifold.hpp b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/src/SubManifold.hpp new file mode 100755 index 0000000..a1b13de --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/src/SubManifold.hpp @@ -0,0 +1,123 @@ +// This is an advanced implementation of the algorithm described in the +// following paper: +// C. Hertzberg, R. Wagner, U. Frese, and L. Schroder. Integratinggeneric sensor fusion algorithms with sound state representationsthrough encapsulation of manifolds. +// CoRR, vol. abs/1107.1119, 2011.[Online]. Available: http://arxiv.org/abs/1107.1119 + +/* + * Copyright (c) 2019--2023, The University of Hong Kong + * All rights reserved. + * + * Modifier: Dongjiao HE + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * Copyright (c) 2008--2011, Universitaet Bremen + * All rights reserved. + * + * Author: Christoph Hertzberg + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file mtk/src/SubManifold.hpp + * @brief Defines the SubManifold class + */ + + +#ifndef SUBMANIFOLD_HPP_ +#define SUBMANIFOLD_HPP_ + + +#include "vectview.hpp" + + +namespace MTK { + +/** + * @ingroup SubManifolds + * Helper class for compound manifolds. + * This class wraps a manifold T and provides an enum IDX refering to the + * index of the SubManifold within the compound manifold. + * + * Memberpointers to a submanifold can be used for @ref SubManifolds "functions accessing submanifolds". + * + * @tparam T The manifold type of the sub-type + * @tparam idx The index of the sub-type within the compound manifold + */ +template +struct SubManifold : public T +{ + enum {IDX = idx, DIM = dim /*!< index of the sub-type within the compound manifold */ }; + //! manifold type + typedef T type; + + //! Construct from derived type + template + explicit + SubManifold(const X& t) : T(t) {}; + + //! Construct from internal type + //explicit + SubManifold(const T& t) : T(t) {}; + + //! inherit assignment operator + using T::operator=; + +}; + +} // namespace MTK + + +#endif /* SUBMANIFOLD_HPP_ */ diff --git a/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/src/mtkmath.hpp b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/src/mtkmath.hpp new file mode 100755 index 0000000..e3420d1 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/src/mtkmath.hpp @@ -0,0 +1,294 @@ +// This is an advanced implementation of the algorithm described in the +// following paper: +// C. Hertzberg, R. Wagner, U. Frese, and L. Schroder. Integratinggeneric sensor fusion algorithms with sound state representationsthrough encapsulation of manifolds. +// CoRR, vol. abs/1107.1119, 2011.[Online]. Available: http://arxiv.org/abs/1107.1119 + +/* + * Copyright (c) 2019--2023, The University of Hong Kong + * All rights reserved. + * + * Modifier: Dongjiao HE + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * Copyright (c) 2008--2011, Universitaet Bremen + * All rights reserved. + * + * Author: Christoph Hertzberg + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file mtk/src/mtkmath.hpp + * @brief several math utility functions. + */ + +#ifndef MTKMATH_H_ +#define MTKMATH_H_ + +#include + +#include + +#include "../types/vect.hpp" + +#ifndef M_PI +#define M_PI 3.1415926535897932384626433832795 +#endif + + +namespace MTK { + +namespace internal { + +template +struct traits { + typedef typename Manifold::scalar scalar; + enum {DOF = Manifold::DOF}; + typedef vect vectorized_type; + typedef Eigen::Matrix matrix_type; +}; + +template<> +struct traits : traits > {}; +template<> +struct traits : traits > {}; + +} // namespace internal + +/** + * \defgroup MTKMath Mathematical helper functions + */ +//@{ + +//! constant @f$ \pi @f$ +const double pi = M_PI; + +template inline scalar tolerance(); + +template<> inline float tolerance() { return 1e-5f; } +template<> inline double tolerance() { return 1e-11; } + + +/** + * normalize @a x to @f$[-bound, bound] @f$. + * + * result for @f$ x = bound + 2\cdot n\cdot bound @f$ is arbitrary @f$\pm bound @f$. + */ +template +inline scalar normalize(scalar x, scalar bound){ //not used + if(std::fabs(x) <= bound) return x; + int r = (int)(x *(scalar(1.0)/ bound)); + return x - ((r + (r>>31) + 1) & ~1)*bound; +} + +/** + * Calculate cosine and sinc of sqrt(x2). + * @param x2 the squared angle must be non-negative + * @return a pair containing cos and sinc of sqrt(x2) + */ +template +std::pair cos_sinc_sqrt(const scalar &x2){ + using std::sqrt; + using std::cos; + using std::sin; + static scalar const taylor_0_bound = boost::math::tools::epsilon(); + static scalar const taylor_2_bound = sqrt(taylor_0_bound); + static scalar const taylor_n_bound = sqrt(taylor_2_bound); + + assert(x2>=0 && "argument must be non-negative"); + + // FIXME check if bigger bounds are possible + if(x2>=taylor_n_bound) { + // slow fall-back solution + scalar x = sqrt(x2); + return std::make_pair(cos(x), sin(x)/x); // x is greater than 0. + } + + // FIXME Replace by Horner-Scheme (4 instead of 5 FLOP/term, numerically more stable, theoretically cos and sinc can be calculated in parallel using SSE2 mulpd/addpd) + // TODO Find optimal coefficients using Remez algorithm + static scalar const inv[] = {1/3., 1/4., 1/5., 1/6., 1/7., 1/8., 1/9.}; + scalar cosi = 1., sinc=1; + scalar term = -1/2. * x2; + for(int i=0; i<3; ++i) { + cosi += term; + term *= inv[2*i]; + sinc += term; + term *= -inv[2*i+1] * x2; + } + + return std::make_pair(cosi, sinc); + +} + +template +Eigen::Matrix hat(const Base& v) { + Eigen::Matrix res; + res << 0, -v[2], v[1], + v[2], 0, -v[0], + -v[1], v[0], 0; + return res; +} + +template +Eigen::Matrix A_inv_trans(const Base& v){ + Eigen::Matrix res; + if(v.norm() > MTK::tolerance()) + { + res = Eigen::Matrix::Identity() + 0.5 * hat(v) + (1 - v.norm() * std::cos(v.norm() / 2) / 2 / std::sin(v.norm() / 2)) * hat(v) * hat(v) / v.squaredNorm(); + + } + else + { + res = Eigen::Matrix::Identity(); + } + + return res; +} + +template +Eigen::Matrix A_inv(const Base& v){ + Eigen::Matrix res; + if(v.norm() > MTK::tolerance()) + { + res = Eigen::Matrix::Identity() - 0.5 * hat(v) + (1 - v.norm() * std::cos(v.norm() / 2) / 2 / std::sin(v.norm() / 2)) * hat(v) * hat(v) / v.squaredNorm(); + + } + else + { + res = Eigen::Matrix::Identity(); + } + + return res; +} + +template +Eigen::Matrix S2_w_expw_( Eigen::Matrix v, scalar length) + { + Eigen::Matrix res; + scalar norm = std::sqrt(v[0]*v[0] + v[1]*v[1]); + if(norm < MTK::tolerance()){ + res = Eigen::Matrix::Zero(); + res(0, 1) = 1; + res(1, 2) = 1; + res /= length; + } + else{ + res << -v[0]*(1/norm-1/std::tan(norm))/std::sin(norm), norm/std::sin(norm), 0, + -v[1]*(1/norm-1/std::tan(norm))/std::sin(norm), 0, norm/std::sin(norm); + res /= length; + } + } + +template +Eigen::Matrix A_matrix(const Base & v){ + Eigen::Matrix res; + double squaredNorm = v[0] * v[0] + v[1] * v[1] + v[2] * v[2]; + double norm = std::sqrt(squaredNorm); + if(norm < MTK::tolerance()){ + res = Eigen::Matrix::Identity(); + } + else{ + res = Eigen::Matrix::Identity() + (1 - std::cos(norm)) / squaredNorm * hat(v) + (1 - std::sin(norm) / norm) / squaredNorm * hat(v) * hat(v); + } + return res; +} + +template +scalar exp(vectview result, vectview vec, const scalar& scale = 1) { + scalar norm2 = vec.squaredNorm(); + std::pair cos_sinc = cos_sinc_sqrt(scale*scale * norm2); + scalar mult = cos_sinc.second * scale; + result = mult * vec; + return cos_sinc.first; +} + + +/** + * Inverse function to @c exp. + * + * @param result @c vectview to the result + * @param w scalar part of input + * @param vec vector part of input + * @param scale scale result by this value + * @param plus_minus_periodicity if true values @f$[w, vec]@f$ and @f$[-w, -vec]@f$ give the same result + */ +template +void log(vectview result, + const scalar &w, const vectview vec, + const scalar &scale, bool plus_minus_periodicity) +{ + // FIXME implement optimized case for vec.squaredNorm() <= tolerance() * (w*w) via Rational Remez approximation ~> only one division + scalar nv = vec.norm(); + if(nv < tolerance()) { + if(!plus_minus_periodicity && w < 0) { + // find the maximal entry: + int i; + nv = vec.cwiseAbs().maxCoeff(&i); + result = scale * std::atan2(nv, w) * vect::Unit(i); + return; + } + nv = tolerance(); + } + scalar s = scale / nv * (plus_minus_periodicity ? std::atan(nv / w) : std::atan2(nv, w) ); + + result = s * vec; +} + + +} // namespace MTK + + +#endif /* MTKMATH_H_ */ diff --git a/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/src/vectview.hpp b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/src/vectview.hpp new file mode 100755 index 0000000..5025071 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/src/vectview.hpp @@ -0,0 +1,168 @@ + +/* + * Copyright (c) 2008--2011, Universitaet Bremen + * All rights reserved. + * + * Author: Christoph Hertzberg + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file mtk/src/vectview.hpp + * @brief Wrapper class around a pointer used as interface for plain vectors. + */ + +#ifndef VECTVIEW_HPP_ +#define VECTVIEW_HPP_ + +#include + +namespace MTK { + +/** + * A view to a vector. + * Essentially, @c vectview is only a pointer to @c scalar but can be used directly in @c Eigen expressions. + * The dimension of the vector is given as template parameter and type-checked when used in expressions. + * Data has to be modifiable. + * + * @tparam scalar Scalar type of the vector. + * @tparam dim Dimension of the vector. + * + * @todo @c vectview can be replaced by simple inheritance of @c Eigen::Map, as soon as they get const-correct + */ +namespace internal { + template + struct CovBlock { + typedef typename Eigen::Block, T1::DOF, T2::DOF> Type; + typedef typename Eigen::Block, T1::DOF, T2::DOF> ConstType; + }; + + template + struct CovBlock_ { + typedef typename Eigen::Block, T1::DIM, T2::DIM> Type; + typedef typename Eigen::Block, T1::DIM, T2::DIM> ConstType; + }; + + template + struct CrossCovBlock { + typedef typename Eigen::Block, T1::DOF, T2::DOF> Type; + typedef typename Eigen::Block, T1::DOF, T2::DOF> ConstType; + }; + + template + struct CrossCovBlock_ { + typedef typename Eigen::Block, T1::DIM, T2::DIM> Type; + typedef typename Eigen::Block, T1::DIM, T2::DIM> ConstType; + }; + + template + struct VectviewBase { + typedef Eigen::Matrix matrix_type; + typedef typename matrix_type::MapType Type; + typedef typename matrix_type::ConstMapType ConstType; + }; + + template + struct UnalignedType { + typedef T type; + }; +} + +template +class vectview : public internal::VectviewBase::Type { + typedef internal::VectviewBase VectviewBase; +public: + //! plain matrix type + typedef typename VectviewBase::matrix_type matrix_type; + //! base type + typedef typename VectviewBase::Type base; + //! construct from pointer + explicit + vectview(scalar* data, int dim_=dim) : base(data, dim_) {} + //! construct from plain matrix + vectview(matrix_type& m) : base(m.data(), m.size()) {} + //! construct from another @c vectview + vectview(const vectview &v) : base(v) {} + //! construct from Eigen::Block: + template + vectview(Eigen::VectorBlock block) : base(&block.coeffRef(0), block.size()) {} + template + vectview(Eigen::Block block) : base(&block.coeffRef(0), block.size()) {} + + //! inherit assignment operator + using base::operator=; + //! data pointer + scalar* data() {return const_cast(base::data());} +}; + +/** + * @c const version of @c vectview. + * Compared to @c Eigen::Map this implementation is const correct, i.e., + * data will not be modifiable using this view. + * + * @tparam scalar Scalar type of the vector. + * @tparam dim Dimension of the vector. + * + * @sa vectview + */ +template +class vectview : public internal::VectviewBase::ConstType { + typedef internal::VectviewBase VectviewBase; +public: + //! plain matrix type + typedef typename VectviewBase::matrix_type matrix_type; + //! base type + typedef typename VectviewBase::ConstType base; + //! construct from const pointer + explicit + vectview(const scalar* data, int dim_ = dim) : base(data, dim_) {} + //! construct from column vector + template + vectview(const Eigen::Matrix& m) : base(m.data()) {} + //! construct from row vector + template + vectview(const Eigen::Matrix& m) : base(m.data()) {} + //! construct from another @c vectview + vectview(vectview x) : base(x.data()) {} + //! construct from base + vectview(const base &x) : base(x) {} + /** + * Construct from Block + * @todo adapt this, when Block gets const-correct + */ + template + vectview(Eigen::VectorBlock block) : base(&block.coeffRef(0)) {} + template + vectview(Eigen::Block block) : base(&block.coeffRef(0)) {} + +}; + + +} // namespace MTK + +#endif /* VECTVIEW_HPP_ */ diff --git a/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/startIdx.hpp b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/startIdx.hpp new file mode 100755 index 0000000..4dc2958 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/startIdx.hpp @@ -0,0 +1,328 @@ +// This is an advanced implementation of the algorithm described in the +// following paper: +// C. Hertzberg, R. Wagner, U. Frese, and L. Schroder. Integratinggeneric sensor fusion algorithms with sound state representationsthrough encapsulation of manifolds. +// CoRR, vol. abs/1107.1119, 2011.[Online]. Available: http://arxiv.org/abs/1107.1119 + +/* + * Copyright (c) 2019--2023, The University of Hong Kong + * All rights reserved. + * + * Modifier: Dongjiao HE + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * Copyright (c) 2008--2011, Universitaet Bremen + * All rights reserved. + * + * Author: Christoph Hertzberg + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file mtk/startIdx.hpp + * @brief Tools to access sub-elements of compound manifolds. + */ +#ifndef GET_START_INDEX_H_ +#define GET_START_INDEX_H_ + +#include + +#include "src/SubManifold.hpp" +#include "src/vectview.hpp" + +namespace MTK { + + +/** + * \defgroup SubManifolds Accessing Submanifolds + * For compound manifolds constructed using MTK_BUILD_MANIFOLD, member pointers + * can be used to get sub-vectors or matrix-blocks of a corresponding big matrix. + * E.g. for a type @a pose consisting of @a orient and @a trans the member pointers + * @c &pose::orient and @c &pose::trans give all required information and are still + * valid if the base type gets extended or the actual types of @a orient and @a trans + * change (e.g. from 2D to 3D). + * + * @todo Maybe require manifolds to typedef MatrixType and VectorType, etc. + */ +//@{ + +/** + * Determine the index of a sub-variable within a compound variable. + */ +template +int getStartIdx( MTK::SubManifold Base::*) +{ + return idx; +} + +template +int getStartIdx_( MTK::SubManifold Base::*) +{ + return dim; +} + +/** + * Determine the degrees of freedom of a sub-variable within a compound variable. + */ +template +int getDof( MTK::SubManifold Base::*) +{ + return T::DOF; +} +template +int getDim( MTK::SubManifold Base::*) +{ + return T::DIM; +} + +/** + * set the diagonal elements of a covariance matrix corresponding to a sub-variable + */ +template +void setDiagonal(Eigen::Matrix &cov, + MTK::SubManifold Base::*, const typename Base::scalar &val) +{ + cov.diagonal().template segment(idx).setConstant(val); +} + +template +void setDiagonal_(Eigen::Matrix &cov, + MTK::SubManifold Base::*, const typename Base::scalar &val) +{ + cov.diagonal().template segment(dim).setConstant(val); +} + +/** + * Get the subblock of corresponding to two members, i.e. + * \code + * Eigen::Matrix m; + * MTK::subblock(m, &Pose::orient, &Pose::trans) = some_expression; + * MTK::subblock(m, &Pose::trans, &Pose::orient) = some_expression.trans(); + * \endcode + * lets you modify mixed covariance entries in a bigger covariance matrix. + */ +template +typename MTK::internal::CovBlock::Type +subblock(Eigen::Matrix &cov, + MTK::SubManifold Base::*, MTK::SubManifold Base::*) +{ + return cov.template block(idx1, idx2); +} + +template +typename MTK::internal::CovBlock_::Type +subblock_(Eigen::Matrix &cov, + MTK::SubManifold Base::*, MTK::SubManifold Base::*) +{ + return cov.template block(dim1, dim2); +} + +template +typename MTK::internal::CrossCovBlock::Type +subblock(Eigen::Matrix &cov, MTK::SubManifold Base1::*, MTK::SubManifold Base2::*) +{ + return cov.template block(idx1, idx2); +} + +template +typename MTK::internal::CrossCovBlock_::Type +subblock_(Eigen::Matrix &cov, MTK::SubManifold Base1::*, MTK::SubManifold Base2::*) +{ + return cov.template block(dim1, dim2); +} +/** + * Get the subblock of corresponding to a member, i.e. + * \code + * Eigen::Matrix m; + * MTK::subblock(m, &Pose::orient) = some_expression; + * \endcode + * lets you modify covariance entries in a bigger covariance matrix. + */ +template +typename MTK::internal::CovBlock_::Type +subblock_(Eigen::Matrix &cov, + MTK::SubManifold Base::*) +{ + return cov.template block(dim, dim); +} + +template +typename MTK::internal::CovBlock::Type +subblock(Eigen::Matrix &cov, + MTK::SubManifold Base::*) +{ + return cov.template block(idx, idx); +} + +template +class get_cov { +public: + typedef Eigen::Matrix type; + typedef const Eigen::Matrix const_type; +}; + +template +class get_cov_ { +public: + typedef Eigen::Matrix type; + typedef const Eigen::Matrix const_type; +}; + +template +class get_cross_cov { +public: + typedef Eigen::Matrix type; + typedef const type const_type; +}; + +template +class get_cross_cov_ { +public: + typedef Eigen::Matrix type; + typedef const type const_type; +}; + + +template +vectview +subvector_impl_(vectview vec, SubManifold Base::*) +{ + return vec.template segment(dim); +} + +template +vectview +subvector_impl(vectview vec, SubManifold Base::*) +{ + return vec.template segment(idx); +} + +/** + * Get the subvector corresponding to a sub-manifold from a bigger vector. + */ + template +vectview +subvector_(vectview vec, SubManifold Base::* ptr) +{ + return subvector_impl_(vec, ptr); +} + +template +vectview +subvector(vectview vec, SubManifold Base::* ptr) +{ + return subvector_impl(vec, ptr); +} + +/** + * @todo This should be covered already by subvector(vectview vec,SubManifold Base::*) + */ +template +vectview +subvector(Eigen::Matrix& vec, SubManifold Base::* ptr) +{ + return subvector_impl(vectview(vec), ptr); +} + +template +vectview +subvector_(Eigen::Matrix& vec, SubManifold Base::* ptr) +{ + return subvector_impl_(vectview(vec), ptr); +} + +template +vectview +subvector_(const Eigen::Matrix& vec, SubManifold Base::* ptr) +{ + return subvector_impl_(vectview(vec), ptr); +} + +template +vectview +subvector(const Eigen::Matrix& vec, SubManifold Base::* ptr) +{ + return subvector_impl(vectview(vec), ptr); +} + + +/** + * const version of subvector(vectview vec,SubManifold Base::*) + */ +template +vectview +subvector_impl(const vectview cvec, SubManifold Base::*) +{ + return cvec.template segment(idx); +} + +template +vectview +subvector_impl_(const vectview cvec, SubManifold Base::*) +{ + return cvec.template segment(dim); +} + +template +vectview +subvector(const vectview cvec, SubManifold Base::* ptr) +{ + return subvector_impl(cvec, ptr); +} + + +} // namespace MTK + +#endif // GET_START_INDEX_H_ diff --git a/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/types/S2.hpp b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/types/S2.hpp new file mode 100755 index 0000000..789ebd9 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/types/S2.hpp @@ -0,0 +1,316 @@ +// This is a NEW implementation of the algorithm described in the +// following paper: +// C. Hertzberg, R. Wagner, U. Frese, and L. Schroder. Integratinggeneric sensor fusion algorithms with sound state representationsthrough encapsulation of manifolds. +// CoRR, vol. abs/1107.1119, 2011.[Online]. Available: http://arxiv.org/abs/1107.1119 + +/* + * Copyright (c) 2019--2023, The University of Hong Kong + * All rights reserved. + * + * Modifier: Dongjiao HE + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * Copyright (c) 2008--2011, Universitaet Bremen + * All rights reserved. + * + * Author: Christoph Hertzberg + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file mtk/types/S2.hpp + * @brief Unit vectors on the sphere, or directions in 3D. + */ +#ifndef S2_H_ +#define S2_H_ + + +#include "vect.hpp" + +#include "SOn.hpp" +#include "../src/mtkmath.hpp" + + + + +namespace MTK { + +/** + * Manifold representation of @f$ S^2 @f$. + * Used for unit vectors on the sphere or directions in 3D. + * + * @todo add conversions from/to polar angles? + */ +template +struct S2 { + + typedef _scalar scalar; + typedef vect<3, scalar> vect_type; + typedef SO3 SO3_type; + typedef typename vect_type::base vec3; + scalar length = scalar(den)/scalar(num); + enum {DOF=2, TYP = 1, DIM = 3}; + +//private: + /** + * Unit vector on the sphere, or vector pointing in a direction + */ + vect_type vec; + +public: + S2() { + if(S2_typ == 3) vec=length * vec3(0, 0, std::sqrt(1)); + if(S2_typ == 2) vec=length * vec3(0, std::sqrt(1), 0); + if(S2_typ == 1) vec=length * vec3(std::sqrt(1), 0, 0); + } + S2(const scalar &x, const scalar &y, const scalar &z) : vec(vec3(x, y, z)) { + vec.normalize(); + vec = vec * length; + } + + S2(const vect_type &_vec) : vec(_vec) { + vec.normalize(); + vec = vec * length; + } + + void oplus(MTK::vectview delta, scalar scale = 1) + { + SO3_type res; + res.w() = MTK::exp(res.vec(), delta, scalar(scale/2)); + vec = res.toRotationMatrix() * vec; + } + + void boxplus(MTK::vectview delta, scalar scale=1) { + Eigen::Matrix Bx; + S2_Bx(Bx); + vect_type Bu = Bx*delta;SO3_type res; + res.w() = MTK::exp(res.vec(), Bu, scalar(scale/2)); + vec = res.toRotationMatrix() * vec; + } + + void boxminus(MTK::vectview res, const S2& other) const { + scalar v_sin = (MTK::hat(vec)*other.vec).norm(); + scalar v_cos = vec.transpose() * other.vec; + scalar theta = std::atan2(v_sin, v_cos); + if(v_sin < MTK::tolerance()) + { + if(std::fabs(theta) > MTK::tolerance() ) + { + res[0] = 3.1415926; + res[1] = 0; + } + else{ + res[0] = 0; + res[1] = 0; + } + } + else + { + S2 other_copy = other; + Eigen::MatrixBx; + other_copy.S2_Bx(Bx); + res = theta/v_sin * Bx.transpose() * MTK::hat(other.vec)*vec; + } + } + + void S2_hat(Eigen::Matrix &res) + { + Eigen::Matrix skew_vec; + skew_vec << scalar(0), -vec[2], vec[1], + vec[2], scalar(0), -vec[0], + -vec[1], vec[0], scalar(0); + res = skew_vec; + } + + + void S2_Bx(Eigen::Matrix &res) + { + if(S2_typ == 3) + { + if(vec[2] + length > tolerance()) + { + + res << length - vec[0]*vec[0]/(length+vec[2]), -vec[0]*vec[1]/(length+vec[2]), + -vec[0]*vec[1]/(length+vec[2]), length-vec[1]*vec[1]/(length+vec[2]), + -vec[0], -vec[1]; + res /= length; + } + else + { + res = Eigen::Matrix::Zero(); + res(1, 1) = -1; + res(2, 0) = 1; + } + } + else if(S2_typ == 2) + { + if(vec[1] + length > tolerance()) + { + + res << length - vec[0]*vec[0]/(length+vec[1]), -vec[0]*vec[2]/(length+vec[1]), + -vec[0], -vec[2], + -vec[0]*vec[2]/(length+vec[1]), length-vec[2]*vec[2]/(length+vec[1]); + res /= length; + } + else + { + res = Eigen::Matrix::Zero(); + res(1, 1) = -1; + res(2, 0) = 1; + } + } + else + { + if(vec[0] + length > tolerance()) + { + + res << -vec[1], -vec[2], + length - vec[1]*vec[1]/(length+vec[0]), -vec[2]*vec[1]/(length+vec[0]), + -vec[2]*vec[1]/(length+vec[0]), length-vec[2]*vec[2]/(length+vec[0]); + res /= length; + } + else + { + res = Eigen::Matrix::Zero(); + res(1, 1) = -1; + res(2, 0) = 1; + } + } + } + + void S2_Nx(Eigen::Matrix &res, S2& subtrahend) + { + if((vec+subtrahend.vec).norm() > tolerance()) + { + Eigen::Matrix Bx; + S2_Bx(Bx); + if((vec-subtrahend.vec).norm() > tolerance()) + { + scalar v_sin = (MTK::hat(vec)*subtrahend.vec).norm(); + scalar v_cos = vec.transpose() * subtrahend.vec; + + res = Bx.transpose() * (std::atan2(v_sin, v_cos)/v_sin*MTK::hat(vec)+MTK::hat(vec)*subtrahend.vec*((-v_cos/v_sin/v_sin/length/length/length/length+std::atan2(v_sin, v_cos)/v_sin/v_sin/v_sin)*subtrahend.vec.transpose()*MTK::hat(vec)*MTK::hat(vec)-vec.transpose()/length/length/length/length)); + } + else + { + res = 1/length/length*Bx.transpose()*MTK::hat(vec); + } + } + else + { + std::cerr << "No N(x, y) for x=-y" << std::endl; + std::exit(100); + } + } + + void S2_Nx_yy(Eigen::Matrix &res) + { + Eigen::Matrix Bx; + S2_Bx(Bx); + res = 1/length/length*Bx.transpose()*MTK::hat(vec); + } + + void S2_Mx(Eigen::Matrix &res, MTK::vectview delta) + { + Eigen::Matrix Bx; + S2_Bx(Bx); + if(delta.norm() < tolerance()) + { + res = -MTK::hat(vec)*Bx; + } + else{ + vect_type Bu = Bx*delta; + SO3_type exp_delta; + exp_delta.w() = MTK::exp(exp_delta.vec(), Bu, scalar(1/2)); + res = -exp_delta.toRotationMatrix()*MTK::hat(vec)*MTK::A_matrix(Bu).transpose()*Bx; + } + } + + operator const vect_type&() const{ + return vec; + } + + const vect_type& get_vect() const { + return vec; + } + + friend S2 operator*(const SO3& rot, const S2& dir) + { + S2 ret; + ret.vec = rot * dir.vec; + return ret; + } + + scalar operator[](int idx) const {return vec[idx]; } + + friend std::ostream& operator<<(std::ostream &os, const S2& vec){ + return os << vec.vec.transpose() << " "; + } + friend std::istream& operator>>(std::istream &is, S2& vec){ + for(int i=0; i<3; ++i) + is >> vec.vec[i]; + vec.vec.normalize(); + vec.vec = vec.vec * vec.length; + return is; + + } +}; + + +} // namespace MTK + + +#endif /*S2_H_*/ diff --git a/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/types/SOn.hpp b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/types/SOn.hpp new file mode 100755 index 0000000..31005e6 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/types/SOn.hpp @@ -0,0 +1,317 @@ +// This is an advanced implementation of the algorithm described in the +// following paper: +// C. Hertzberg, R. Wagner, U. Frese, and L. Schroder. Integratinggeneric sensor fusion algorithms with sound state representationsthrough encapsulation of manifolds. +// CoRR, vol. abs/1107.1119, 2011.[Online]. Available: http://arxiv.org/abs/1107.1119 + +/* + * Copyright (c) 2019--2023, The University of Hong Kong + * All rights reserved. + * + * Modifier: Dongjiao HE + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * Copyright (c) 2008--2011, Universitaet Bremen + * All rights reserved. + * + * Author: Christoph Hertzberg + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file mtk/types/SOn.hpp + * @brief Standard Orthogonal Groups i.e.\ rotatation groups. + */ +#ifndef SON_H_ +#define SON_H_ + +#include + +#include "vect.hpp" +#include "../src/mtkmath.hpp" + + +namespace MTK { + + +/** + * Two-dimensional orientations represented as scalar. + * There is no guarantee that the representing scalar is within any interval, + * but the result of boxminus will always have magnitude @f$\le\pi @f$. + */ +template +struct SO2 : public Eigen::Rotation2D<_scalar> { + enum {DOF = 1, DIM = 2, TYP = 3}; + + typedef _scalar scalar; + typedef Eigen::Rotation2D base; + typedef vect vect_type; + + //! Construct from angle + SO2(const scalar& angle = 0) : base(angle) { } + + //! Construct from Eigen::Rotation2D + SO2(const base& src) : base(src) {} + + /** + * Construct from 2D vector. + * Resulting orientation will rotate the first unit vector to point to vec. + */ + SO2(const vect_type &vec) : base(atan2(vec[1], vec[0])) {}; + + + //! Calculate @c this->inverse() * @c r + SO2 operator%(const base &r) const { + return base::inverse() * r; + } + + //! Calculate @c this->inverse() * @c r + template + vect_type operator%(const Eigen::MatrixBase &vec) const { + return base::inverse() * vec; + } + + //! Calculate @c *this * @c r.inverse() + SO2 operator/(const SO2 &r) const { + return *this * r.inverse(); + } + + //! Gets the angle as scalar. + operator scalar() const { + return base::angle(); + } + void S2_hat(Eigen::Matrix &res) + { + res = Eigen::Matrix::Zero(); + } + //! @name Manifold requirements + void S2_Nx_yy(Eigen::Matrix &res) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + void S2_Mx(Eigen::Matrix &res, MTK::vectview delta) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + void oplus(MTK::vectview vec, scalar scale = 1) { + base::angle() += scale * vec[0]; + } + + void boxplus(MTK::vectview vec, scalar scale = 1) { + base::angle() += scale * vec[0]; + } + void boxminus(MTK::vectview res, const SO2& other) const { + res[0] = MTK::normalize(base::angle() - other.angle(), scalar(MTK::pi)); + } + + friend std::istream& operator>>(std::istream &is, SO2& ang){ + return is >> ang.angle(); + } + +}; + + +/** + * Three-dimensional orientations represented as Quaternion. + * It is assumed that the internal Quaternion always stays normalized, + * should this not be the case, call inherited member function @c normalize(). + */ +template +struct SO3 : public Eigen::Quaternion<_scalar, Options> { + enum {DOF = 3, DIM = 3, TYP = 2}; + typedef _scalar scalar; + typedef Eigen::Quaternion base; + typedef Eigen::Quaternion Quaternion; + typedef vect vect_type; + + //! Calculate @c this->inverse() * @c r + template EIGEN_STRONG_INLINE + Quaternion operator%(const Eigen::QuaternionBase &r) const { + return base::conjugate() * r; + } + + //! Calculate @c this->inverse() * @c r + template + vect_type operator%(const Eigen::MatrixBase &vec) const { + return base::conjugate() * vec; + } + + //! Calculate @c this * @c r.conjugate() + template EIGEN_STRONG_INLINE + Quaternion operator/(const Eigen::QuaternionBase &r) const { + return *this * r.conjugate(); + } + + /** + * Construct from real part and three imaginary parts. + * Quaternion is normalized after construction. + */ + SO3(const scalar& w, const scalar& x, const scalar& y, const scalar& z) : base(w, x, y, z) { + base::normalize(); + } + + /** + * Construct from Eigen::Quaternion. + * @note Non-normalized input may result result in spurious behavior. + */ + SO3(const base& src = base::Identity()) : base(src) {} + + /** + * Construct from rotation matrix. + * @note Invalid rotation matrices may lead to spurious behavior. + */ + template + SO3(const Eigen::MatrixBase& matrix) : base(matrix) {} + + /** + * Construct from arbitrary rotation type. + * @note Invalid rotation matrices may lead to spurious behavior. + */ + template + SO3(const Eigen::RotationBase& rotation) : base(rotation.derived()) {} + + //! @name Manifold requirements + + void boxplus(MTK::vectview vec, scalar scale=1) { + SO3 delta = exp(vec, scale); + *this = *this * delta; + } + void boxminus(MTK::vectview res, const SO3& other) const { + res = SO3::log(other.conjugate() * *this); + } + //} + + void oplus(MTK::vectview vec, scalar scale=1) { + SO3 delta = exp(vec, scale); + *this = *this * delta; + } + + void S2_hat(Eigen::Matrix &res) + { + res = Eigen::Matrix::Zero(); + } + void S2_Nx_yy(Eigen::Matrix &res) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + void S2_Mx(Eigen::Matrix &res, MTK::vectview delta) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + friend std::ostream& operator<<(std::ostream &os, const SO3& q){ + return os << q.coeffs().transpose() << " "; + } + + friend std::istream& operator>>(std::istream &is, SO3& q){ + vect<4,scalar> coeffs; + is >> coeffs; + q.coeffs() = coeffs.normalized(); + return is; + } + + //! @name Helper functions + //{ + /** + * Calculate the exponential map. In matrix terms this would correspond + * to the Rodrigues formula. + */ + // FIXME vectview<> can't be constructed from every MatrixBase<>, use const Vector3x& as workaround +// static SO3 exp(MTK::vectview dvec, scalar scale = 1){ + static SO3 exp(const Eigen::Matrix& dvec, scalar scale = 1){ + SO3 res; + res.w() = MTK::exp(res.vec(), dvec, scalar(scale/2)); + return res; + } + /** + * Calculate the inverse of @c exp. + * Only guarantees that exp(log(x)) == x + */ + static typename base::Vector3 log(const SO3 &orient){ + typename base::Vector3 res; + MTK::log(res, orient.w(), orient.vec(), scalar(2), true); + return res; + } +}; + +namespace internal { +template +struct UnalignedType >{ + typedef SO2 type; +}; + +template +struct UnalignedType >{ + typedef SO3 type; +}; + +} // namespace internal + + +} // namespace MTK + +#endif /*SON_H_*/ + diff --git a/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/types/vect.hpp b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/types/vect.hpp new file mode 100755 index 0000000..0e5b9ce --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/types/vect.hpp @@ -0,0 +1,461 @@ +// This is an advanced implementation of the algorithm described in the +// following paper: +// C. Hertzberg, R. Wagner, U. Frese, and L. Schroder. Integratinggeneric sensor fusion algorithms with sound state representationsthrough encapsulation of manifolds. +// CoRR, vol. abs/1107.1119, 2011.[Online]. Available: http://arxiv.org/abs/1107.1119 + +/* + * Copyright (c) 2019--2023, The University of Hong Kong + * All rights reserved. + * + * Modifier: Dongjiao HE + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * Copyright (c) 2008--2011, Universitaet Bremen + * All rights reserved. + * + * Author: Christoph Hertzberg + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file mtk/types/vect.hpp + * @brief Basic vectors interpreted as manifolds. + * + * This file also implements a simple wrapper for matrices, for arbitrary scalars + * and for positive scalars. + */ +#ifndef VECT_H_ +#define VECT_H_ + +#include +#include +#include + +#include "../src/vectview.hpp" + +namespace MTK { + +static const Eigen::IOFormat IO_no_spaces(Eigen::StreamPrecision, Eigen::DontAlignCols, ",", ",", "", "", "[", "]"); + + +/** + * A simple vector class. + * Implementation is basically a wrapper around Eigen::Matrix with manifold + * requirements added. + */ +template +struct vect : public Eigen::Matrix<_scalar, D, 1, _Options> { + typedef Eigen::Matrix<_scalar, D, 1, _Options> base; + enum {DOF = D, DIM = D, TYP = 0}; + typedef _scalar scalar; + + //using base::operator=; + + /** Standard constructor. Sets all values to zero. */ + vect(const base &src = base::Zero()) : base(src) {} + + /** Constructor copying the value of the expression \a other */ + template + EIGEN_STRONG_INLINE vect(const Eigen::DenseBase& other) : base(other) {} + + /** Construct from memory. */ + vect(const scalar* src, int size = DOF) : base(base::Map(src, size)) { } + + void boxplus(MTK::vectview vec, scalar scale=1) { + *this += scale * vec; + } + void boxminus(MTK::vectview res, const vect& other) const { + res = *this - other; + } + + void oplus(MTK::vectview vec, scalar scale=1) { + *this += scale * vec; + } + + void S2_hat(Eigen::Matrix &res) + { + res = Eigen::Matrix::Zero(); + } + + void S2_Nx_yy(Eigen::Matrix &res) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + void S2_Mx(Eigen::Matrix &res, MTK::vectview delta) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + friend std::ostream& operator<<(std::ostream &os, const vect& v){ + // Eigen sometimes messes with the streams flags, so output manually: + for(int i=0; i>(std::istream &is, vect& v){ + char term=0; + is >> std::ws; // skip whitespace + switch(is.peek()) { + case '(': term=')'; is.ignore(1); break; + case '[': term=']'; is.ignore(1); break; + case '{': term='}'; is.ignore(1); break; + default: break; + } + if(D==Eigen::Dynamic) { + assert(term !=0 && "Dynamic vectors must be embraced"); + std::vector temp; + while(is.good() && is.peek() != term) { + scalar x; + is >> x; + temp.push_back(x); + if(is.peek()==',') is.ignore(1); + } + v = vect::Map(temp.data(), temp.size()); + } else + for(int i=0; i> v[i]; + if(is.peek()==',') { // ignore commas between values + is.ignore(1); + } + } + if(term!=0) { + char x; + is >> x; + if(x!=term) { + is.setstate(is.badbit); +// assert(x==term && "start and end bracket do not match!"); + } + } + return is; + } + + template + vectview tail(){ + BOOST_STATIC_ASSERT(0< dim && dim <= DOF); + return base::template tail(); + } + template + vectview tail() const{ + BOOST_STATIC_ASSERT(0< dim && dim <= DOF); + return base::template tail(); + } + template + vectview head(){ + BOOST_STATIC_ASSERT(0< dim && dim <= DOF); + return base::template head(); + } + template + vectview head() const{ + BOOST_STATIC_ASSERT(0< dim && dim <= DOF); + return base::template head(); + } +}; + + +/** + * A simple matrix class. + * Implementation is basically a wrapper around Eigen::Matrix with manifold + * requirements added, i.e., matrix is viewed as a plain vector for that. + */ +template::Options> +struct matrix : public Eigen::Matrix<_scalar, M, N, _Options> { + typedef Eigen::Matrix<_scalar, M, N, _Options> base; + enum {DOF = M * N, TYP = 4, DIM=0}; + typedef _scalar scalar; + + using base::operator=; + + /** Standard constructor. Sets all values to zero. */ + matrix() { + base::setZero(); + } + + /** Constructor copying the value of the expression \a other */ + template + EIGEN_STRONG_INLINE matrix(const Eigen::MatrixBase& other) : base(other) {} + + /** Construct from memory. */ + matrix(const scalar* src) : base(src) { } + + void boxplus(MTK::vectview vec, scalar scale = 1) { + *this += scale * base::Map(vec.data()); + } + void boxminus(MTK::vectview res, const matrix& other) const { + base::Map(res.data()) = *this - other; + } + + void S2_hat(Eigen::Matrix &res) + { + res = Eigen::Matrix::Zero(); + } + + void oplus(MTK::vectview vec, scalar scale = 1) { + *this += scale * base::Map(vec.data()); + } + + void S2_Nx_yy(Eigen::Matrix &res) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + void S2_Mx(Eigen::Matrix &res, MTK::vectview delta) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + friend std::ostream& operator<<(std::ostream &os, const matrix& mat){ + for(int i=0; i>(std::istream &is, matrix& mat){ + for(int i=0; i> mat.data()[i]; + } + return is; + } +};// @todo What if M / N = Eigen::Dynamic? + + + +/** + * A simple scalar type. + */ +template +struct Scalar { + enum {DOF = 1, TYP = 5, DIM=0}; + typedef _scalar scalar; + + scalar value; + + Scalar(const scalar& value = scalar(0)) : value(value) {} + operator const scalar&() const { return value; } + operator scalar&() { return value; } + Scalar& operator=(const scalar& val) { value = val; return *this; } + + void S2_hat(Eigen::Matrix &res) + { + res = Eigen::Matrix::Zero(); + } + + void S2_Nx_yy(Eigen::Matrix &res) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + void S2_Mx(Eigen::Matrix &res, MTK::vectview delta) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + void oplus(MTK::vectview vec, scalar scale=1) { + value += scale * vec[0]; + } + + void boxplus(MTK::vectview vec, scalar scale=1) { + value += scale * vec[0]; + } + void boxminus(MTK::vectview res, const Scalar& other) const { + res[0] = *this - other; + } +}; + +/** + * Positive scalars. + * Boxplus is implemented using multiplication by @f$x\boxplus\delta = x\cdot\exp(\delta) @f$. + */ +template +struct PositiveScalar { + enum {DOF = 1, TYP = 6, DIM=0}; + typedef _scalar scalar; + + scalar value; + + PositiveScalar(const scalar& value = scalar(1)) : value(value) { + assert(value > scalar(0)); + } + operator const scalar&() const { return value; } + PositiveScalar& operator=(const scalar& val) { assert(val>0); value = val; return *this; } + + void boxplus(MTK::vectview vec, scalar scale = 1) { + value *= std::exp(scale * vec[0]); + } + void boxminus(MTK::vectview res, const PositiveScalar& other) const { + res[0] = std::log(*this / other); + } + + void oplus(MTK::vectview vec, scalar scale = 1) { + value *= std::exp(scale * vec[0]); + } + + void S2_hat(Eigen::Matrix &res) + { + res = Eigen::Matrix::Zero(); + } + + void S2_Nx_yy(Eigen::Matrix &res) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + void S2_Mx(Eigen::Matrix &res, MTK::vectview delta) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + + friend std::istream& operator>>(std::istream &is, PositiveScalar& s){ + is >> s.value; + assert(s.value > 0); + return is; + } +}; + +template +struct Complex : public std::complex<_scalar>{ + enum {DOF = 2, TYP = 7, DIM=0}; + typedef _scalar scalar; + + typedef std::complex Base; + + Complex(const Base& value) : Base(value) {} + Complex(const scalar& re = 0.0, const scalar& im = 0.0) : Base(re, im) {} + Complex(const MTK::vectview &in) : Base(in[0], in[1]) {} + template + Complex(const Eigen::DenseBase &in) : Base(in[0], in[1]) {} + + void boxplus(MTK::vectview vec, scalar scale = 1) { + Base::real() += scale * vec[0]; + Base::imag() += scale * vec[1]; + }; + void boxminus(MTK::vectview res, const Complex& other) const { + Complex diff = *this - other; + res << diff.real(), diff.imag(); + } + + void S2_hat(Eigen::Matrix &res) + { + res = Eigen::Matrix::Zero(); + } + + void oplus(MTK::vectview vec, scalar scale = 1) { + Base::real() += scale * vec[0]; + Base::imag() += scale * vec[1]; + }; + + void S2_Nx_yy(Eigen::Matrix &res) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + void S2_Mx(Eigen::Matrix &res, MTK::vectview delta) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + scalar squaredNorm() const { + return std::pow(Base::real(),2) + std::pow(Base::imag(),2); + } + + const scalar& operator()(int i) const { + assert(0<=i && i<2 && "Index out of range"); + return i==0 ? Base::real() : Base::imag(); + } + scalar& operator()(int i){ + assert(0<=i && i<2 && "Index out of range"); + return i==0 ? Base::real() : Base::imag(); + } +}; + + +namespace internal { + +template +struct UnalignedType >{ + typedef vect type; +}; + +} // namespace internal + + +} // namespace MTK + + + + +#endif /*VECT_H_*/ diff --git a/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/types/wrapped_cv_mat.hpp b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/types/wrapped_cv_mat.hpp new file mode 100755 index 0000000..b6643f1 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/include/IKFoM_toolkit/mtk/types/wrapped_cv_mat.hpp @@ -0,0 +1,113 @@ +/* + * Copyright (c) 2010--2011, Universitaet Bremen and DFKI GmbH + * All rights reserved. + * + * Author: Rene Wagner + * Christoph Hertzberg + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the DFKI GmbH + * nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific + * prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef WRAPPED_CV_MAT_HPP_ +#define WRAPPED_CV_MAT_HPP_ + +#include +#include + +namespace MTK { + +template +struct cv_f_type; + +template<> +struct cv_f_type +{ + enum {value = CV_64F}; +}; + +template<> +struct cv_f_type +{ + enum {value = CV_32F}; +}; + +/** + * cv_mat wraps a CvMat around an Eigen Matrix + */ +template +class cv_mat : public matrix +{ + typedef matrix base_type; + enum {type_ = cv_f_type::value}; + CvMat cv_mat_; + +public: + cv_mat() + { + cv_mat_ = cvMat(rows, cols, type_, base_type::data()); + } + + cv_mat(const cv_mat& oth) : base_type(oth) + { + cv_mat_ = cvMat(rows, cols, type_, base_type::data()); + } + + template + cv_mat(const Eigen::MatrixBase &value) : base_type(value) + { + cv_mat_ = cvMat(rows, cols, type_, base_type::data()); + } + + template + cv_mat& operator=(const Eigen::MatrixBase &value) + { + base_type::operator=(value); + return *this; + } + + cv_mat& operator=(const cv_mat& value) + { + base_type::operator=(value); + return *this; + } + + // FIXME: Maybe overloading operator& is not a good idea ... + CvMat* operator&() + { + return &cv_mat_; + } + const CvMat* operator&() const + { + return &cv_mat_; + } +}; + +} // namespace MTK + +#endif /* WRAPPED_CV_MAT_HPP_ */ diff --git a/src/rm_nav/rm_localization/FAST_LIO/include/common_lib.h b/src/rm_nav/rm_localization/FAST_LIO/include/common_lib.h new file mode 100644 index 0000000..69365e3 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/include/common_lib.h @@ -0,0 +1,270 @@ +#ifndef COMMON_LIB_H +#define COMMON_LIB_H + +#include +#include +#include +#include +#include +#include +#include + +using namespace std; +using namespace Eigen; + +#define USE_IKFOM + +#define PI_M (3.14159265358) +#define G_m_s2 (9.81) // Gravaty const in GuangDong/China +#define DIM_STATE (18) // Dimension of states (Let Dim(SO(3)) = 3) +#define DIM_PROC_N (12) // Dimension of process noise (Let Dim(SO(3)) = 3) +#define CUBE_LEN (6.0) +#define LIDAR_SP_LEN (2) +#define INIT_COV (1) +#define NUM_MATCH_POINTS (5) +#define MAX_MEAS_DIM (10000) + +#define VEC_FROM_ARRAY(v) v[0],v[1],v[2] +#define MAT_FROM_ARRAY(v) v[0],v[1],v[2],v[3],v[4],v[5],v[6],v[7],v[8] +#define CONSTRAIN(v,min,max) ((v>min)?((v (mat.data(), mat.data() + mat.rows() * mat.cols()) +#define DEBUG_FILE_DIR(name) (string(string(ROOT_DIR) + "Log/"+ name)) + +typedef fast_lio::msg::Pose6D Pose6D; +typedef pcl::PointXYZINormal PointType; +typedef pcl::PointCloud PointCloudXYZI; +typedef vector> PointVector; +typedef Vector3d V3D; +typedef Matrix3d M3D; +typedef Vector3f V3F; +typedef Matrix3f M3F; + +#define MD(a,b) Matrix +#define VD(a) Matrix +#define MF(a,b) Matrix +#define VF(a) Matrix + +M3D Eye3d(M3D::Identity()); +M3F Eye3f(M3F::Identity()); +V3D Zero3d(0, 0, 0); +V3F Zero3f(0, 0, 0); + +struct MeasureGroup // Lidar data and imu dates for the curent process +{ + MeasureGroup() + { + lidar_beg_time = 0.0; + this->lidar.reset(new PointCloudXYZI()); + }; + double lidar_beg_time; + double lidar_end_time; + PointCloudXYZI::Ptr lidar; + deque imu; +}; + +struct StatesGroup +{ + StatesGroup() { + this->rot_end = M3D::Identity(); + this->pos_end = Zero3d; + this->vel_end = Zero3d; + this->bias_g = Zero3d; + this->bias_a = Zero3d; + this->gravity = Zero3d; + this->cov = MD(DIM_STATE,DIM_STATE)::Identity() * INIT_COV; + this->cov.block<9,9>(9,9) = MD(9,9)::Identity() * 0.00001; + }; + + StatesGroup(const StatesGroup& b) { + this->rot_end = b.rot_end; + this->pos_end = b.pos_end; + this->vel_end = b.vel_end; + this->bias_g = b.bias_g; + this->bias_a = b.bias_a; + this->gravity = b.gravity; + this->cov = b.cov; + }; + + StatesGroup& operator=(const StatesGroup& b) + { + this->rot_end = b.rot_end; + this->pos_end = b.pos_end; + this->vel_end = b.vel_end; + this->bias_g = b.bias_g; + this->bias_a = b.bias_a; + this->gravity = b.gravity; + this->cov = b.cov; + return *this; + }; + + StatesGroup operator+(const Matrix &state_add) + { + StatesGroup a; + a.rot_end = this->rot_end * Exp(state_add(0,0), state_add(1,0), state_add(2,0)); + a.pos_end = this->pos_end + state_add.block<3,1>(3,0); + a.vel_end = this->vel_end + state_add.block<3,1>(6,0); + a.bias_g = this->bias_g + state_add.block<3,1>(9,0); + a.bias_a = this->bias_a + state_add.block<3,1>(12,0); + a.gravity = this->gravity + state_add.block<3,1>(15,0); + a.cov = this->cov; + return a; + }; + + StatesGroup& operator+=(const Matrix &state_add) + { + this->rot_end = this->rot_end * Exp(state_add(0,0), state_add(1,0), state_add(2,0)); + this->pos_end += state_add.block<3,1>(3,0); + this->vel_end += state_add.block<3,1>(6,0); + this->bias_g += state_add.block<3,1>(9,0); + this->bias_a += state_add.block<3,1>(12,0); + this->gravity += state_add.block<3,1>(15,0); + return *this; + }; + + Matrix operator-(const StatesGroup& b) + { + Matrix a; + M3D rotd(b.rot_end.transpose() * this->rot_end); + a.block<3,1>(0,0) = Log(rotd); + a.block<3,1>(3,0) = this->pos_end - b.pos_end; + a.block<3,1>(6,0) = this->vel_end - b.vel_end; + a.block<3,1>(9,0) = this->bias_g - b.bias_g; + a.block<3,1>(12,0) = this->bias_a - b.bias_a; + a.block<3,1>(15,0) = this->gravity - b.gravity; + return a; + }; + + void resetpose() + { + this->rot_end = M3D::Identity(); + this->pos_end = Zero3d; + this->vel_end = Zero3d; + } + + M3D rot_end; // the estimated attitude (rotation matrix) at the end lidar point + V3D pos_end; // the estimated position at the end lidar point (world frame) + V3D vel_end; // the estimated velocity at the end lidar point (world frame) + V3D bias_g; // gyroscope bias + V3D bias_a; // accelerator bias + V3D gravity; // the estimated gravity acceleration + Matrix cov; // states covariance +}; + +template +T rad2deg(T radians) +{ + return radians * 180.0 / PI_M; +} + +template +T deg2rad(T degrees) +{ + return degrees * PI_M / 180.0; +} + +template +auto set_pose6d(const double t, const Matrix &a, const Matrix &g, \ + const Matrix &v, const Matrix &p, const Matrix &R) +{ + Pose6D rot_kp; + rot_kp.offset_time = t; + for (int i = 0; i < 3; i++) + { + rot_kp.acc[i] = a(i); + rot_kp.gyr[i] = g(i); + rot_kp.vel[i] = v(i); + rot_kp.pos[i] = p(i); + for (int j = 0; j < 3; j++) rot_kp.rot[i*3+j] = R(i,j); + } + return move(rot_kp); +} + +/* comment +plane equation: Ax + By + Cz + D = 0 +convert to: A/D*x + B/D*y + C/D*z = -1 +solve: A0*x0 = b0 +where A0_i = [x_i, y_i, z_i], x0 = [A/D, B/D, C/D]^T, b0 = [-1, ..., -1]^T +normvec: normalized x0 +*/ +template +bool esti_normvector(Matrix &normvec, const PointVector &point, const T &threshold, const int &point_num) +{ + MatrixXf A(point_num, 3); + MatrixXf b(point_num, 1); + b.setOnes(); + b *= -1.0f; + + for (int j = 0; j < point_num; j++) + { + A(j,0) = point[j].x; + A(j,1) = point[j].y; + A(j,2) = point[j].z; + } + normvec = A.colPivHouseholderQr().solve(b); + + for (int j = 0; j < point_num; j++) + { + if (fabs(normvec(0) * point[j].x + normvec(1) * point[j].y + normvec(2) * point[j].z + 1.0f) > threshold) + { + return false; + } + } + + normvec.normalize(); + return true; +} + +float calc_dist(PointType p1, PointType p2){ + float d = (p1.x - p2.x) * (p1.x - p2.x) + (p1.y - p2.y) * (p1.y - p2.y) + (p1.z - p2.z) * (p1.z - p2.z); + return d; +} + +template +bool esti_plane(Matrix &pca_result, const PointVector &point, const T &threshold) +{ + Matrix A; + Matrix b; + A.setZero(); + b.setOnes(); + b *= -1.0f; + + for (int j = 0; j < NUM_MATCH_POINTS; j++) + { + A(j,0) = point[j].x; + A(j,1) = point[j].y; + A(j,2) = point[j].z; + } + + Matrix normvec = A.colPivHouseholderQr().solve(b); + + T n = normvec.norm(); + pca_result(0) = normvec(0) / n; + pca_result(1) = normvec(1) / n; + pca_result(2) = normvec(2) / n; + pca_result(3) = 1.0 / n; + + for (int j = 0; j < NUM_MATCH_POINTS; j++) + { + if (fabs(pca_result(0) * point[j].x + pca_result(1) * point[j].y + pca_result(2) * point[j].z + pca_result(3)) > threshold) + { + return false; + } + } + return true; +} + +double get_time_sec(const builtin_interfaces::msg::Time &time) +{ + return rclcpp::Time(time).seconds(); +} + +rclcpp::Time get_ros_time(double timestamp) +{ + int32_t sec = std::floor(timestamp); + auto nanosec_d = (timestamp - std::floor(timestamp)) * 1e9; + uint32_t nanosec = nanosec_d; + return rclcpp::Time(sec, nanosec); +} + +#endif \ No newline at end of file diff --git a/src/rm_nav/rm_localization/FAST_LIO/include/ikd-Tree/README.md b/src/rm_nav/rm_localization/FAST_LIO/include/ikd-Tree/README.md new file mode 100644 index 0000000..e113a91 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/include/ikd-Tree/README.md @@ -0,0 +1,2 @@ +# ikd-Tree +ikd-Tree is an incremental k-d tree for robotic applications. diff --git a/src/rm_nav/rm_localization/FAST_LIO/include/ikd-Tree/ikd_Tree.cpp b/src/rm_nav/rm_localization/FAST_LIO/include/ikd-Tree/ikd_Tree.cpp new file mode 100644 index 0000000..e8c4e86 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/include/ikd-Tree/ikd_Tree.cpp @@ -0,0 +1,1728 @@ +#include "ikd_Tree.h" + +/* +Description: ikd-Tree: an incremental k-d tree for robotic applications +Author: Yixi Cai +email: yixicai@connect.hku.hk +*/ + +template +KD_TREE::KD_TREE(float delete_param, float balance_param, float box_length) +{ + delete_criterion_param = delete_param; + balance_criterion_param = balance_param; + downsample_size = box_length; + Rebuild_Logger.clear(); + termination_flag = false; + start_thread(); +} + +template +KD_TREE::~KD_TREE() +{ + stop_thread(); + Delete_Storage_Disabled = true; + delete_tree_nodes(&Root_Node); + PointVector().swap(PCL_Storage); + Rebuild_Logger.clear(); +} + + + +template +void KD_TREE::InitializeKDTree(float delete_param, float balance_param, float box_length) +{ + Set_delete_criterion_param(delete_param); + Set_balance_criterion_param(balance_param); + set_downsample_param(box_length); +} + +template +void KD_TREE::InitTreeNode(KD_TREE_NODE *root) +{ + root->point.x = 0.0f; + root->point.y = 0.0f; + root->point.z = 0.0f; + root->node_range_x[0] = 0.0f; + root->node_range_x[1] = 0.0f; + root->node_range_y[0] = 0.0f; + root->node_range_y[1] = 0.0f; + root->node_range_z[0] = 0.0f; + root->node_range_z[1] = 0.0f; + root->radius_sq = 0.0f; + root->division_axis = 0; + root->father_ptr = nullptr; + root->left_son_ptr = nullptr; + root->right_son_ptr = nullptr; + root->TreeSize = 0; + root->invalid_point_num = 0; + root->down_del_num = 0; + root->point_deleted = false; + root->tree_deleted = false; + root->need_push_down_to_left = false; + root->need_push_down_to_right = false; + root->point_downsample_deleted = false; + root->working_flag = false; + pthread_mutex_init(&(root->push_down_mutex_lock), NULL); +} + +template +int KD_TREE::size() +{ + int s = 0; + if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != Root_Node) + { + if (Root_Node != nullptr) + { + return Root_Node->TreeSize; + } + else + { + return 0; + } + } + else + { + if (!pthread_mutex_trylock(&working_flag_mutex)) + { + s = Root_Node->TreeSize; + pthread_mutex_unlock(&working_flag_mutex); + return s; + } + else + { + return Treesize_tmp; + } + } +} + +template +BoxPointType KD_TREE::tree_range() +{ + BoxPointType range; + if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != Root_Node) + { + if (Root_Node != nullptr) + { + range.vertex_min[0] = Root_Node->node_range_x[0]; + range.vertex_min[1] = Root_Node->node_range_y[0]; + range.vertex_min[2] = Root_Node->node_range_z[0]; + range.vertex_max[0] = Root_Node->node_range_x[1]; + range.vertex_max[1] = Root_Node->node_range_y[1]; + range.vertex_max[2] = Root_Node->node_range_z[1]; + } + else + { + memset(&range, 0, sizeof(range)); + } + } + else + { + if (!pthread_mutex_trylock(&working_flag_mutex)) + { + range.vertex_min[0] = Root_Node->node_range_x[0]; + range.vertex_min[1] = Root_Node->node_range_y[0]; + range.vertex_min[2] = Root_Node->node_range_z[0]; + range.vertex_max[0] = Root_Node->node_range_x[1]; + range.vertex_max[1] = Root_Node->node_range_y[1]; + range.vertex_max[2] = Root_Node->node_range_z[1]; + pthread_mutex_unlock(&working_flag_mutex); + } + else + { + memset(&range, 0, sizeof(range)); + } + } + return range; +} + +template +int KD_TREE::validnum() +{ + int s = 0; + if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != Root_Node) + { + if (Root_Node != nullptr) + return (Root_Node->TreeSize - Root_Node->invalid_point_num); + else + return 0; + } + else + { + if (!pthread_mutex_trylock(&working_flag_mutex)) + { + s = Root_Node->TreeSize - Root_Node->invalid_point_num; + pthread_mutex_unlock(&working_flag_mutex); + return s; + } + else + { + return -1; + } + } +} + +template +void KD_TREE::root_alpha(float &alpha_bal, float &alpha_del) +{ + if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != Root_Node) + { + alpha_bal = Root_Node->alpha_bal; + alpha_del = Root_Node->alpha_del; + return; + } + else + { + if (!pthread_mutex_trylock(&working_flag_mutex)) + { + alpha_bal = Root_Node->alpha_bal; + alpha_del = Root_Node->alpha_del; + pthread_mutex_unlock(&working_flag_mutex); + return; + } + else + { + alpha_bal = alpha_bal_tmp; + alpha_del = alpha_del_tmp; + return; + } + } +} + +template +void KD_TREE::start_thread() +{ + pthread_mutex_init(&termination_flag_mutex_lock, NULL); + pthread_mutex_init(&rebuild_ptr_mutex_lock, NULL); + pthread_mutex_init(&rebuild_logger_mutex_lock, NULL); + pthread_mutex_init(&points_deleted_rebuild_mutex_lock, NULL); + pthread_mutex_init(&working_flag_mutex, NULL); + pthread_mutex_init(&search_flag_mutex, NULL); + pthread_create(&rebuild_thread, NULL, multi_thread_ptr, (void *)this); + printf("Multi thread started \n"); +} + +template +void KD_TREE::stop_thread() +{ + pthread_mutex_lock(&termination_flag_mutex_lock); + termination_flag = true; + pthread_mutex_unlock(&termination_flag_mutex_lock); + if (rebuild_thread) + pthread_join(rebuild_thread, NULL); + pthread_mutex_destroy(&termination_flag_mutex_lock); + pthread_mutex_destroy(&rebuild_logger_mutex_lock); + pthread_mutex_destroy(&rebuild_ptr_mutex_lock); + pthread_mutex_destroy(&points_deleted_rebuild_mutex_lock); + pthread_mutex_destroy(&working_flag_mutex); + pthread_mutex_destroy(&search_flag_mutex); +} + +template +void *KD_TREE::multi_thread_ptr(void *arg) +{ + KD_TREE *handle = (KD_TREE *)arg; + handle->multi_thread_rebuild(); + return nullptr; +} + +template +void KD_TREE::multi_thread_rebuild() +{ + bool terminated = false; + KD_TREE_NODE *father_ptr, **new_node_ptr; + pthread_mutex_lock(&termination_flag_mutex_lock); + terminated = termination_flag; + pthread_mutex_unlock(&termination_flag_mutex_lock); + while (!terminated) + { + pthread_mutex_lock(&rebuild_ptr_mutex_lock); + pthread_mutex_lock(&working_flag_mutex); + if (Rebuild_Ptr != nullptr) + { + /* Traverse and copy */ + if (!Rebuild_Logger.empty()) + { + printf("\n\n\n\n\n\n\n\n\n\n\n ERROR!!! \n\n\n\n\n\n\n\n\n"); + } + rebuild_flag = true; + if (*Rebuild_Ptr == Root_Node) + { + Treesize_tmp = Root_Node->TreeSize; + Validnum_tmp = Root_Node->TreeSize - Root_Node->invalid_point_num; + alpha_bal_tmp = Root_Node->alpha_bal; + alpha_del_tmp = Root_Node->alpha_del; + } + KD_TREE_NODE *old_root_node = (*Rebuild_Ptr); + father_ptr = (*Rebuild_Ptr)->father_ptr; + PointVector().swap(Rebuild_PCL_Storage); + // Lock Search + pthread_mutex_lock(&search_flag_mutex); + while (search_mutex_counter != 0) + { + pthread_mutex_unlock(&search_flag_mutex); + usleep(1); + pthread_mutex_lock(&search_flag_mutex); + } + search_mutex_counter = -1; + pthread_mutex_unlock(&search_flag_mutex); + // Lock deleted points cache + pthread_mutex_lock(&points_deleted_rebuild_mutex_lock); + flatten(*Rebuild_Ptr, Rebuild_PCL_Storage, MULTI_THREAD_REC); + // Unlock deleted points cache + pthread_mutex_unlock(&points_deleted_rebuild_mutex_lock); + // Unlock Search + pthread_mutex_lock(&search_flag_mutex); + search_mutex_counter = 0; + pthread_mutex_unlock(&search_flag_mutex); + pthread_mutex_unlock(&working_flag_mutex); + /* Rebuild and update missed operations*/ + Operation_Logger_Type Operation; + KD_TREE_NODE *new_root_node = nullptr; + if (int(Rebuild_PCL_Storage.size()) > 0) + { + BuildTree(&new_root_node, 0, Rebuild_PCL_Storage.size() - 1, Rebuild_PCL_Storage); + // Rebuild has been done. Updates the blocked operations into the new tree + pthread_mutex_lock(&working_flag_mutex); + pthread_mutex_lock(&rebuild_logger_mutex_lock); + int tmp_counter = 0; + while (!Rebuild_Logger.empty()) + { + Operation = Rebuild_Logger.front(); + max_queue_size = max(max_queue_size, Rebuild_Logger.size()); + Rebuild_Logger.pop(); + pthread_mutex_unlock(&rebuild_logger_mutex_lock); + pthread_mutex_unlock(&working_flag_mutex); + run_operation(&new_root_node, Operation); + tmp_counter++; + if (tmp_counter % 10 == 0) + usleep(1); + pthread_mutex_lock(&working_flag_mutex); + pthread_mutex_lock(&rebuild_logger_mutex_lock); + } + pthread_mutex_unlock(&rebuild_logger_mutex_lock); + } + /* Replace to original tree*/ + // pthread_mutex_lock(&working_flag_mutex); + pthread_mutex_lock(&search_flag_mutex); + while (search_mutex_counter != 0) + { + pthread_mutex_unlock(&search_flag_mutex); + usleep(1); + pthread_mutex_lock(&search_flag_mutex); + } + search_mutex_counter = -1; + pthread_mutex_unlock(&search_flag_mutex); + if (father_ptr->left_son_ptr == *Rebuild_Ptr) + { + father_ptr->left_son_ptr = new_root_node; + } + else if (father_ptr->right_son_ptr == *Rebuild_Ptr) + { + father_ptr->right_son_ptr = new_root_node; + } + else + { + throw "Error: Father ptr incompatible with current node\n"; + } + if (new_root_node != nullptr) + new_root_node->father_ptr = father_ptr; + (*Rebuild_Ptr) = new_root_node; + int valid_old = old_root_node->TreeSize - old_root_node->invalid_point_num; + int valid_new = new_root_node->TreeSize - new_root_node->invalid_point_num; + if (father_ptr == STATIC_ROOT_NODE) + Root_Node = STATIC_ROOT_NODE->left_son_ptr; + KD_TREE_NODE *update_root = *Rebuild_Ptr; + while (update_root != nullptr && update_root != Root_Node) + { + update_root = update_root->father_ptr; + if (update_root->working_flag) + break; + if (update_root == update_root->father_ptr->left_son_ptr && update_root->father_ptr->need_push_down_to_left) + break; + if (update_root == update_root->father_ptr->right_son_ptr && update_root->father_ptr->need_push_down_to_right) + break; + Update(update_root); + } + pthread_mutex_lock(&search_flag_mutex); + search_mutex_counter = 0; + pthread_mutex_unlock(&search_flag_mutex); + Rebuild_Ptr = nullptr; + pthread_mutex_unlock(&working_flag_mutex); + rebuild_flag = false; + /* Delete discarded tree nodes */ + delete_tree_nodes(&old_root_node); + } + else + { + pthread_mutex_unlock(&working_flag_mutex); + } + pthread_mutex_unlock(&rebuild_ptr_mutex_lock); + pthread_mutex_lock(&termination_flag_mutex_lock); + terminated = termination_flag; + pthread_mutex_unlock(&termination_flag_mutex_lock); + usleep(100); + } + printf("Rebuild thread terminated normally\n"); +} + +template +void KD_TREE::run_operation(KD_TREE_NODE **root, Operation_Logger_Type operation) +{ + switch (operation.op) + { + case ADD_POINT: + Add_by_point(root, operation.point, false, (*root)->division_axis); + break; + case ADD_BOX: + Add_by_range(root, operation.boxpoint, false); + break; + case DELETE_POINT: + Delete_by_point(root, operation.point, false); + break; + case DELETE_BOX: + Delete_by_range(root, operation.boxpoint, false, false); + break; + case DOWNSAMPLE_DELETE: + Delete_by_range(root, operation.boxpoint, false, true); + break; + case PUSH_DOWN: + (*root)->tree_downsample_deleted |= operation.tree_downsample_deleted; + (*root)->point_downsample_deleted |= operation.tree_downsample_deleted; + (*root)->tree_deleted = operation.tree_deleted || (*root)->tree_downsample_deleted; + (*root)->point_deleted = (*root)->tree_deleted || (*root)->point_downsample_deleted; + if (operation.tree_downsample_deleted) + (*root)->down_del_num = (*root)->TreeSize; + if (operation.tree_deleted) + (*root)->invalid_point_num = (*root)->TreeSize; + else + (*root)->invalid_point_num = (*root)->down_del_num; + (*root)->need_push_down_to_left = true; + (*root)->need_push_down_to_right = true; + break; + default: + break; + } +} + +template +void KD_TREE::Build(PointVector point_cloud) +{ + if (Root_Node != nullptr) + { + delete_tree_nodes(&Root_Node); + } + if (point_cloud.size() == 0) + return; + STATIC_ROOT_NODE = new KD_TREE_NODE; + InitTreeNode(STATIC_ROOT_NODE); + BuildTree(&STATIC_ROOT_NODE->left_son_ptr, 0, point_cloud.size() - 1, point_cloud); + Update(STATIC_ROOT_NODE); + STATIC_ROOT_NODE->TreeSize = 0; + Root_Node = STATIC_ROOT_NODE->left_son_ptr; +} + +template +void KD_TREE::Nearest_Search(PointType point, int k_nearest, PointVector &Nearest_Points, vector &Point_Distance, float max_dist) +{ + MANUAL_HEAP q(2 * k_nearest); + q.clear(); + vector().swap(Point_Distance); + if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != Root_Node) + { + Search(Root_Node, k_nearest, point, q, max_dist); + } + else + { + pthread_mutex_lock(&search_flag_mutex); + while (search_mutex_counter == -1) + { + pthread_mutex_unlock(&search_flag_mutex); + usleep(1); + pthread_mutex_lock(&search_flag_mutex); + } + search_mutex_counter += 1; + pthread_mutex_unlock(&search_flag_mutex); + Search(Root_Node, k_nearest, point, q, max_dist); + pthread_mutex_lock(&search_flag_mutex); + search_mutex_counter -= 1; + pthread_mutex_unlock(&search_flag_mutex); + } + int k_found = min(k_nearest, int(q.size())); + PointVector().swap(Nearest_Points); + vector().swap(Point_Distance); + for (int i = 0; i < k_found; i++) + { + Nearest_Points.insert(Nearest_Points.begin(), q.top().point); + Point_Distance.insert(Point_Distance.begin(), q.top().dist); + q.pop(); + } + return; +} + +template +void KD_TREE::Box_Search(const BoxPointType &Box_of_Point, PointVector &Storage) +{ + Storage.clear(); + Search_by_range(Root_Node, Box_of_Point, Storage); +} + +template +void KD_TREE::Radius_Search(PointType point, const float radius, PointVector &Storage) +{ + Storage.clear(); + Search_by_radius(Root_Node, point, radius, Storage); +} + +template +int KD_TREE::Add_Points(PointVector &PointToAdd, bool downsample_on) +{ + int NewPointSize = PointToAdd.size(); + int tree_size = size(); + BoxPointType Box_of_Point; + PointType downsample_result, mid_point; + bool downsample_switch = downsample_on && DOWNSAMPLE_SWITCH; + float min_dist, tmp_dist; + int tmp_counter = 0; + for (int i = 0; i < PointToAdd.size(); i++) + { + if (downsample_switch) + { + Box_of_Point.vertex_min[0] = floor(PointToAdd[i].x / downsample_size) * downsample_size; + Box_of_Point.vertex_max[0] = Box_of_Point.vertex_min[0] + downsample_size; + Box_of_Point.vertex_min[1] = floor(PointToAdd[i].y / downsample_size) * downsample_size; + Box_of_Point.vertex_max[1] = Box_of_Point.vertex_min[1] + downsample_size; + Box_of_Point.vertex_min[2] = floor(PointToAdd[i].z / downsample_size) * downsample_size; + Box_of_Point.vertex_max[2] = Box_of_Point.vertex_min[2] + downsample_size; + mid_point.x = Box_of_Point.vertex_min[0] + (Box_of_Point.vertex_max[0] - Box_of_Point.vertex_min[0]) / 2.0; + mid_point.y = Box_of_Point.vertex_min[1] + (Box_of_Point.vertex_max[1] - Box_of_Point.vertex_min[1]) / 2.0; + mid_point.z = Box_of_Point.vertex_min[2] + (Box_of_Point.vertex_max[2] - Box_of_Point.vertex_min[2]) / 2.0; + PointVector().swap(Downsample_Storage); + Search_by_range(Root_Node, Box_of_Point, Downsample_Storage); + min_dist = calc_dist(PointToAdd[i], mid_point); + downsample_result = PointToAdd[i]; + for (int index = 0; index < Downsample_Storage.size(); index++) + { + tmp_dist = calc_dist(Downsample_Storage[index], mid_point); + if (tmp_dist < min_dist) + { + min_dist = tmp_dist; + downsample_result = Downsample_Storage[index]; + } + } + if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != Root_Node) + { + if (Downsample_Storage.size() > 1 || same_point(PointToAdd[i], downsample_result)) + { + if (Downsample_Storage.size() > 0) + Delete_by_range(&Root_Node, Box_of_Point, true, true); + Add_by_point(&Root_Node, downsample_result, true, Root_Node->division_axis); + tmp_counter++; + } + } + else + { + if (Downsample_Storage.size() > 1 || same_point(PointToAdd[i], downsample_result)) + { + Operation_Logger_Type operation_delete, operation; + operation_delete.boxpoint = Box_of_Point; + operation_delete.op = DOWNSAMPLE_DELETE; + operation.point = downsample_result; + operation.op = ADD_POINT; + pthread_mutex_lock(&working_flag_mutex); + if (Downsample_Storage.size() > 0) + Delete_by_range(&Root_Node, Box_of_Point, false, true); + Add_by_point(&Root_Node, downsample_result, false, Root_Node->division_axis); + tmp_counter++; + if (rebuild_flag) + { + pthread_mutex_lock(&rebuild_logger_mutex_lock); + if (Downsample_Storage.size() > 0) + Rebuild_Logger.push(operation_delete); + Rebuild_Logger.push(operation); + pthread_mutex_unlock(&rebuild_logger_mutex_lock); + } + pthread_mutex_unlock(&working_flag_mutex); + }; + } + } + else + { + if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != Root_Node) + { + Add_by_point(&Root_Node, PointToAdd[i], true, Root_Node->division_axis); + } + else + { + Operation_Logger_Type operation; + operation.point = PointToAdd[i]; + operation.op = ADD_POINT; + pthread_mutex_lock(&working_flag_mutex); + Add_by_point(&Root_Node, PointToAdd[i], false, Root_Node->division_axis); + if (rebuild_flag) + { + pthread_mutex_lock(&rebuild_logger_mutex_lock); + Rebuild_Logger.push(operation); + pthread_mutex_unlock(&rebuild_logger_mutex_lock); + } + pthread_mutex_unlock(&working_flag_mutex); + } + } + } + return tmp_counter; +} + +template +void KD_TREE::Add_Point_Boxes(vector &BoxPoints) +{ + for (int i = 0; i < BoxPoints.size(); i++) + { + if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != Root_Node) + { + Add_by_range(&Root_Node, BoxPoints[i], true); + } + else + { + Operation_Logger_Type operation; + operation.boxpoint = BoxPoints[i]; + operation.op = ADD_BOX; + pthread_mutex_lock(&working_flag_mutex); + Add_by_range(&Root_Node, BoxPoints[i], false); + if (rebuild_flag) + { + pthread_mutex_lock(&rebuild_logger_mutex_lock); + Rebuild_Logger.push(operation); + pthread_mutex_unlock(&rebuild_logger_mutex_lock); + } + pthread_mutex_unlock(&working_flag_mutex); + } + } + return; +} + +template +void KD_TREE::Delete_Points(PointVector &PointToDel) +{ + for (int i = 0; i < PointToDel.size(); i++) + { + if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != Root_Node) + { + Delete_by_point(&Root_Node, PointToDel[i], true); + } + else + { + Operation_Logger_Type operation; + operation.point = PointToDel[i]; + operation.op = DELETE_POINT; + pthread_mutex_lock(&working_flag_mutex); + Delete_by_point(&Root_Node, PointToDel[i], false); + if (rebuild_flag) + { + pthread_mutex_lock(&rebuild_logger_mutex_lock); + Rebuild_Logger.push(operation); + pthread_mutex_unlock(&rebuild_logger_mutex_lock); + } + pthread_mutex_unlock(&working_flag_mutex); + } + } + return; +} + +template +int KD_TREE::Delete_Point_Boxes(vector &BoxPoints) +{ + int tmp_counter = 0; + for (int i = 0; i < BoxPoints.size(); i++) + { + if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != Root_Node) + { + tmp_counter += Delete_by_range(&Root_Node, BoxPoints[i], true, false); + } + else + { + Operation_Logger_Type operation; + operation.boxpoint = BoxPoints[i]; + operation.op = DELETE_BOX; + pthread_mutex_lock(&working_flag_mutex); + tmp_counter += Delete_by_range(&Root_Node, BoxPoints[i], false, false); + if (rebuild_flag) + { + pthread_mutex_lock(&rebuild_logger_mutex_lock); + Rebuild_Logger.push(operation); + pthread_mutex_unlock(&rebuild_logger_mutex_lock); + } + pthread_mutex_unlock(&working_flag_mutex); + } + } + return tmp_counter; +} + +template +void KD_TREE::acquire_removed_points(PointVector &removed_points) +{ + pthread_mutex_lock(&points_deleted_rebuild_mutex_lock); + for (int i = 0; i < Points_deleted.size(); i++) + { + removed_points.push_back(Points_deleted[i]); + } + for (int i = 0; i < Multithread_Points_deleted.size(); i++) + { + removed_points.push_back(Multithread_Points_deleted[i]); + } + Points_deleted.clear(); + Multithread_Points_deleted.clear(); + pthread_mutex_unlock(&points_deleted_rebuild_mutex_lock); + return; +} + +template +void KD_TREE::BuildTree(KD_TREE_NODE **root, int l, int r, PointVector &Storage) +{ + if (l > r) + return; + *root = new KD_TREE_NODE; + InitTreeNode(*root); + int mid = (l + r) >> 1; + int div_axis = 0; + int i; + // Find the best division Axis + float min_value[3] = {INFINITY, INFINITY, INFINITY}; + float max_value[3] = {-INFINITY, -INFINITY, -INFINITY}; + float dim_range[3] = {0, 0, 0}; + for (i = l; i <= r; i++) + { + min_value[0] = min(min_value[0], Storage[i].x); + min_value[1] = min(min_value[1], Storage[i].y); + min_value[2] = min(min_value[2], Storage[i].z); + max_value[0] = max(max_value[0], Storage[i].x); + max_value[1] = max(max_value[1], Storage[i].y); + max_value[2] = max(max_value[2], Storage[i].z); + } + // Select the longest dimension as division axis + for (i = 0; i < 3; i++) + dim_range[i] = max_value[i] - min_value[i]; + for (i = 1; i < 3; i++) + if (dim_range[i] > dim_range[div_axis]) + div_axis = i; + // Divide by the division axis and recursively build. + + (*root)->division_axis = div_axis; + switch (div_axis) + { + case 0: + nth_element(begin(Storage) + l, begin(Storage) + mid, begin(Storage) + r + 1, point_cmp_x); + break; + case 1: + nth_element(begin(Storage) + l, begin(Storage) + mid, begin(Storage) + r + 1, point_cmp_y); + break; + case 2: + nth_element(begin(Storage) + l, begin(Storage) + mid, begin(Storage) + r + 1, point_cmp_z); + break; + default: + nth_element(begin(Storage) + l, begin(Storage) + mid, begin(Storage) + r + 1, point_cmp_x); + break; + } + (*root)->point = Storage[mid]; + KD_TREE_NODE *left_son = nullptr, *right_son = nullptr; + BuildTree(&left_son, l, mid - 1, Storage); + BuildTree(&right_son, mid + 1, r, Storage); + (*root)->left_son_ptr = left_son; + (*root)->right_son_ptr = right_son; + Update((*root)); + return; +} + +template +void KD_TREE::Rebuild(KD_TREE_NODE **root) +{ + KD_TREE_NODE *father_ptr; + if ((*root)->TreeSize >= Multi_Thread_Rebuild_Point_Num) + { + if (!pthread_mutex_trylock(&rebuild_ptr_mutex_lock)) + { + if (Rebuild_Ptr == nullptr || ((*root)->TreeSize > (*Rebuild_Ptr)->TreeSize)) + { + Rebuild_Ptr = root; + } + pthread_mutex_unlock(&rebuild_ptr_mutex_lock); + } + } + else + { + father_ptr = (*root)->father_ptr; + int size_rec = (*root)->TreeSize; + PCL_Storage.clear(); + flatten(*root, PCL_Storage, DELETE_POINTS_REC); + delete_tree_nodes(root); + BuildTree(root, 0, PCL_Storage.size() - 1, PCL_Storage); + if (*root != nullptr) + (*root)->father_ptr = father_ptr; + if (*root == Root_Node) + STATIC_ROOT_NODE->left_son_ptr = *root; + } + return; +} + +template +int KD_TREE::Delete_by_range(KD_TREE_NODE **root, BoxPointType boxpoint, bool allow_rebuild, bool is_downsample) +{ + if ((*root) == nullptr || (*root)->tree_deleted) + return 0; + (*root)->working_flag = true; + Push_Down(*root); + int tmp_counter = 0; + if (boxpoint.vertex_max[0] <= (*root)->node_range_x[0] || boxpoint.vertex_min[0] > (*root)->node_range_x[1]) + return 0; + if (boxpoint.vertex_max[1] <= (*root)->node_range_y[0] || boxpoint.vertex_min[1] > (*root)->node_range_y[1]) + return 0; + if (boxpoint.vertex_max[2] <= (*root)->node_range_z[0] || boxpoint.vertex_min[2] > (*root)->node_range_z[1]) + return 0; + if (boxpoint.vertex_min[0] <= (*root)->node_range_x[0] && boxpoint.vertex_max[0] > (*root)->node_range_x[1] && boxpoint.vertex_min[1] <= (*root)->node_range_y[0] && boxpoint.vertex_max[1] > (*root)->node_range_y[1] && boxpoint.vertex_min[2] <= (*root)->node_range_z[0] && boxpoint.vertex_max[2] > (*root)->node_range_z[1]) + { + (*root)->tree_deleted = true; + (*root)->point_deleted = true; + (*root)->need_push_down_to_left = true; + (*root)->need_push_down_to_right = true; + tmp_counter = (*root)->TreeSize - (*root)->invalid_point_num; + (*root)->invalid_point_num = (*root)->TreeSize; + if (is_downsample) + { + (*root)->tree_downsample_deleted = true; + (*root)->point_downsample_deleted = true; + (*root)->down_del_num = (*root)->TreeSize; + } + return tmp_counter; + } + if (!(*root)->point_deleted && boxpoint.vertex_min[0] <= (*root)->point.x && boxpoint.vertex_max[0] > (*root)->point.x && boxpoint.vertex_min[1] <= (*root)->point.y && boxpoint.vertex_max[1] > (*root)->point.y && boxpoint.vertex_min[2] <= (*root)->point.z && boxpoint.vertex_max[2] > (*root)->point.z) + { + (*root)->point_deleted = true; + tmp_counter += 1; + if (is_downsample) + (*root)->point_downsample_deleted = true; + } + Operation_Logger_Type delete_box_log; + struct timespec Timeout; + if (is_downsample) + delete_box_log.op = DOWNSAMPLE_DELETE; + else + delete_box_log.op = DELETE_BOX; + delete_box_log.boxpoint = boxpoint; + if ((Rebuild_Ptr == nullptr) || (*root)->left_son_ptr != *Rebuild_Ptr) + { + tmp_counter += Delete_by_range(&((*root)->left_son_ptr), boxpoint, allow_rebuild, is_downsample); + } + else + { + pthread_mutex_lock(&working_flag_mutex); + tmp_counter += Delete_by_range(&((*root)->left_son_ptr), boxpoint, false, is_downsample); + if (rebuild_flag) + { + pthread_mutex_lock(&rebuild_logger_mutex_lock); + Rebuild_Logger.push(delete_box_log); + pthread_mutex_unlock(&rebuild_logger_mutex_lock); + } + pthread_mutex_unlock(&working_flag_mutex); + } + if ((Rebuild_Ptr == nullptr) || (*root)->right_son_ptr != *Rebuild_Ptr) + { + tmp_counter += Delete_by_range(&((*root)->right_son_ptr), boxpoint, allow_rebuild, is_downsample); + } + else + { + pthread_mutex_lock(&working_flag_mutex); + tmp_counter += Delete_by_range(&((*root)->right_son_ptr), boxpoint, false, is_downsample); + if (rebuild_flag) + { + pthread_mutex_lock(&rebuild_logger_mutex_lock); + Rebuild_Logger.push(delete_box_log); + pthread_mutex_unlock(&rebuild_logger_mutex_lock); + } + pthread_mutex_unlock(&working_flag_mutex); + } + Update(*root); + if (Rebuild_Ptr != nullptr && *Rebuild_Ptr == *root && (*root)->TreeSize < Multi_Thread_Rebuild_Point_Num) + Rebuild_Ptr = nullptr; + bool need_rebuild = allow_rebuild & Criterion_Check((*root)); + if (need_rebuild) + Rebuild(root); + if ((*root) != nullptr) + (*root)->working_flag = false; + return tmp_counter; +} + +template +void KD_TREE::Delete_by_point(KD_TREE_NODE **root, PointType point, bool allow_rebuild) +{ + if ((*root) == nullptr || (*root)->tree_deleted) + return; + (*root)->working_flag = true; + Push_Down(*root); + if (same_point((*root)->point, point) && !(*root)->point_deleted) + { + (*root)->point_deleted = true; + (*root)->invalid_point_num += 1; + if ((*root)->invalid_point_num == (*root)->TreeSize) + (*root)->tree_deleted = true; + return; + } + Operation_Logger_Type delete_log; + struct timespec Timeout; + delete_log.op = DELETE_POINT; + delete_log.point = point; + if (((*root)->division_axis == 0 && point.x < (*root)->point.x) || ((*root)->division_axis == 1 && point.y < (*root)->point.y) || ((*root)->division_axis == 2 && point.z < (*root)->point.z)) + { + if ((Rebuild_Ptr == nullptr) || (*root)->left_son_ptr != *Rebuild_Ptr) + { + Delete_by_point(&(*root)->left_son_ptr, point, allow_rebuild); + } + else + { + pthread_mutex_lock(&working_flag_mutex); + Delete_by_point(&(*root)->left_son_ptr, point, false); + if (rebuild_flag) + { + pthread_mutex_lock(&rebuild_logger_mutex_lock); + Rebuild_Logger.push(delete_log); + pthread_mutex_unlock(&rebuild_logger_mutex_lock); + } + pthread_mutex_unlock(&working_flag_mutex); + } + } + else + { + if ((Rebuild_Ptr == nullptr) || (*root)->right_son_ptr != *Rebuild_Ptr) + { + Delete_by_point(&(*root)->right_son_ptr, point, allow_rebuild); + } + else + { + pthread_mutex_lock(&working_flag_mutex); + Delete_by_point(&(*root)->right_son_ptr, point, false); + if (rebuild_flag) + { + pthread_mutex_lock(&rebuild_logger_mutex_lock); + Rebuild_Logger.push(delete_log); + pthread_mutex_unlock(&rebuild_logger_mutex_lock); + } + pthread_mutex_unlock(&working_flag_mutex); + } + } + Update(*root); + if (Rebuild_Ptr != nullptr && *Rebuild_Ptr == *root && (*root)->TreeSize < Multi_Thread_Rebuild_Point_Num) + Rebuild_Ptr = nullptr; + bool need_rebuild = allow_rebuild & Criterion_Check((*root)); + if (need_rebuild) + Rebuild(root); + if ((*root) != nullptr) + (*root)->working_flag = false; + return; +} + +template +void KD_TREE::Add_by_range(KD_TREE_NODE **root, BoxPointType boxpoint, bool allow_rebuild) +{ + if ((*root) == nullptr) + return; + (*root)->working_flag = true; + Push_Down(*root); + if (boxpoint.vertex_max[0] <= (*root)->node_range_x[0] || boxpoint.vertex_min[0] > (*root)->node_range_x[1]) + return; + if (boxpoint.vertex_max[1] <= (*root)->node_range_y[0] || boxpoint.vertex_min[1] > (*root)->node_range_y[1]) + return; + if (boxpoint.vertex_max[2] <= (*root)->node_range_z[0] || boxpoint.vertex_min[2] > (*root)->node_range_z[1]) + return; + if (boxpoint.vertex_min[0] <= (*root)->node_range_x[0] && boxpoint.vertex_max[0] > (*root)->node_range_x[1] && boxpoint.vertex_min[1] <= (*root)->node_range_y[0] && boxpoint.vertex_max[1] > (*root)->node_range_y[1] && boxpoint.vertex_min[2] <= (*root)->node_range_z[0] && boxpoint.vertex_max[2] > (*root)->node_range_z[1]) + { + (*root)->tree_deleted = false || (*root)->tree_downsample_deleted; + (*root)->point_deleted = false || (*root)->point_downsample_deleted; + (*root)->need_push_down_to_left = true; + (*root)->need_push_down_to_right = true; + (*root)->invalid_point_num = (*root)->down_del_num; + return; + } + if (boxpoint.vertex_min[0] <= (*root)->point.x && boxpoint.vertex_max[0] > (*root)->point.x && boxpoint.vertex_min[1] <= (*root)->point.y && boxpoint.vertex_max[1] > (*root)->point.y && boxpoint.vertex_min[2] <= (*root)->point.z && boxpoint.vertex_max[2] > (*root)->point.z) + { + (*root)->point_deleted = (*root)->point_downsample_deleted; + } + Operation_Logger_Type add_box_log; + struct timespec Timeout; + add_box_log.op = ADD_BOX; + add_box_log.boxpoint = boxpoint; + if ((Rebuild_Ptr == nullptr) || (*root)->left_son_ptr != *Rebuild_Ptr) + { + Add_by_range(&((*root)->left_son_ptr), boxpoint, allow_rebuild); + } + else + { + pthread_mutex_lock(&working_flag_mutex); + Add_by_range(&((*root)->left_son_ptr), boxpoint, false); + if (rebuild_flag) + { + pthread_mutex_lock(&rebuild_logger_mutex_lock); + Rebuild_Logger.push(add_box_log); + pthread_mutex_unlock(&rebuild_logger_mutex_lock); + } + pthread_mutex_unlock(&working_flag_mutex); + } + if ((Rebuild_Ptr == nullptr) || (*root)->right_son_ptr != *Rebuild_Ptr) + { + Add_by_range(&((*root)->right_son_ptr), boxpoint, allow_rebuild); + } + else + { + pthread_mutex_lock(&working_flag_mutex); + Add_by_range(&((*root)->right_son_ptr), boxpoint, false); + if (rebuild_flag) + { + pthread_mutex_lock(&rebuild_logger_mutex_lock); + Rebuild_Logger.push(add_box_log); + pthread_mutex_unlock(&rebuild_logger_mutex_lock); + } + pthread_mutex_unlock(&working_flag_mutex); + } + Update(*root); + if (Rebuild_Ptr != nullptr && *Rebuild_Ptr == *root && (*root)->TreeSize < Multi_Thread_Rebuild_Point_Num) + Rebuild_Ptr = nullptr; + bool need_rebuild = allow_rebuild & Criterion_Check((*root)); + if (need_rebuild) + Rebuild(root); + if ((*root) != nullptr) + (*root)->working_flag = false; + return; +} + +template +void KD_TREE::Add_by_point(KD_TREE_NODE **root, PointType point, bool allow_rebuild, int father_axis) +{ + if (*root == nullptr) + { + *root = new KD_TREE_NODE; + InitTreeNode(*root); + (*root)->point = point; + (*root)->division_axis = (father_axis + 1) % 3; + Update(*root); + return; + } + (*root)->working_flag = true; + Operation_Logger_Type add_log; + struct timespec Timeout; + add_log.op = ADD_POINT; + add_log.point = point; + Push_Down(*root); + if (((*root)->division_axis == 0 && point.x < (*root)->point.x) || ((*root)->division_axis == 1 && point.y < (*root)->point.y) || ((*root)->division_axis == 2 && point.z < (*root)->point.z)) + { + if ((Rebuild_Ptr == nullptr) || (*root)->left_son_ptr != *Rebuild_Ptr) + { + Add_by_point(&(*root)->left_son_ptr, point, allow_rebuild, (*root)->division_axis); + } + else + { + pthread_mutex_lock(&working_flag_mutex); + Add_by_point(&(*root)->left_son_ptr, point, false, (*root)->division_axis); + if (rebuild_flag) + { + pthread_mutex_lock(&rebuild_logger_mutex_lock); + Rebuild_Logger.push(add_log); + pthread_mutex_unlock(&rebuild_logger_mutex_lock); + } + pthread_mutex_unlock(&working_flag_mutex); + } + } + else + { + if ((Rebuild_Ptr == nullptr) || (*root)->right_son_ptr != *Rebuild_Ptr) + { + Add_by_point(&(*root)->right_son_ptr, point, allow_rebuild, (*root)->division_axis); + } + else + { + pthread_mutex_lock(&working_flag_mutex); + Add_by_point(&(*root)->right_son_ptr, point, false, (*root)->division_axis); + if (rebuild_flag) + { + pthread_mutex_lock(&rebuild_logger_mutex_lock); + Rebuild_Logger.push(add_log); + pthread_mutex_unlock(&rebuild_logger_mutex_lock); + } + pthread_mutex_unlock(&working_flag_mutex); + } + } + Update(*root); + if (Rebuild_Ptr != nullptr && *Rebuild_Ptr == *root && (*root)->TreeSize < Multi_Thread_Rebuild_Point_Num) + Rebuild_Ptr = nullptr; + bool need_rebuild = allow_rebuild & Criterion_Check((*root)); + if (need_rebuild) + Rebuild(root); + if ((*root) != nullptr) + (*root)->working_flag = false; + return; +} + +template +void KD_TREE::Search(KD_TREE_NODE *root, int k_nearest, PointType point, MANUAL_HEAP &q, float max_dist) +{ + if (root == nullptr || root->tree_deleted) + return; + float cur_dist = calc_box_dist(root, point); + float max_dist_sqr = max_dist * max_dist; + if (cur_dist > max_dist_sqr) + return; + int retval; + if (root->need_push_down_to_left || root->need_push_down_to_right) + { + retval = pthread_mutex_trylock(&(root->push_down_mutex_lock)); + if (retval == 0) + { + Push_Down(root); + pthread_mutex_unlock(&(root->push_down_mutex_lock)); + } + else + { + pthread_mutex_lock(&(root->push_down_mutex_lock)); + pthread_mutex_unlock(&(root->push_down_mutex_lock)); + } + } + if (!root->point_deleted) + { + float dist = calc_dist(point, root->point); + if (dist <= max_dist_sqr && (q.size() < k_nearest || dist < q.top().dist)) + { + if (q.size() >= k_nearest) + q.pop(); + PointType_CMP current_point{root->point, dist}; + q.push(current_point); + } + } + int cur_search_counter; + float dist_left_node = calc_box_dist(root->left_son_ptr, point); + float dist_right_node = calc_box_dist(root->right_son_ptr, point); + if (q.size() < k_nearest || dist_left_node < q.top().dist && dist_right_node < q.top().dist) + { + if (dist_left_node <= dist_right_node) + { + if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != root->left_son_ptr) + { + Search(root->left_son_ptr, k_nearest, point, q, max_dist); + } + else + { + pthread_mutex_lock(&search_flag_mutex); + while (search_mutex_counter == -1) + { + pthread_mutex_unlock(&search_flag_mutex); + usleep(1); + pthread_mutex_lock(&search_flag_mutex); + } + search_mutex_counter += 1; + pthread_mutex_unlock(&search_flag_mutex); + Search(root->left_son_ptr, k_nearest, point, q, max_dist); + pthread_mutex_lock(&search_flag_mutex); + search_mutex_counter -= 1; + pthread_mutex_unlock(&search_flag_mutex); + } + if (q.size() < k_nearest || dist_right_node < q.top().dist) + { + if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != root->right_son_ptr) + { + Search(root->right_son_ptr, k_nearest, point, q, max_dist); + } + else + { + pthread_mutex_lock(&search_flag_mutex); + while (search_mutex_counter == -1) + { + pthread_mutex_unlock(&search_flag_mutex); + usleep(1); + pthread_mutex_lock(&search_flag_mutex); + } + search_mutex_counter += 1; + pthread_mutex_unlock(&search_flag_mutex); + Search(root->right_son_ptr, k_nearest, point, q, max_dist); + pthread_mutex_lock(&search_flag_mutex); + search_mutex_counter -= 1; + pthread_mutex_unlock(&search_flag_mutex); + } + } + } + else + { + if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != root->right_son_ptr) + { + Search(root->right_son_ptr, k_nearest, point, q, max_dist); + } + else + { + pthread_mutex_lock(&search_flag_mutex); + while (search_mutex_counter == -1) + { + pthread_mutex_unlock(&search_flag_mutex); + usleep(1); + pthread_mutex_lock(&search_flag_mutex); + } + search_mutex_counter += 1; + pthread_mutex_unlock(&search_flag_mutex); + Search(root->right_son_ptr, k_nearest, point, q, max_dist); + pthread_mutex_lock(&search_flag_mutex); + search_mutex_counter -= 1; + pthread_mutex_unlock(&search_flag_mutex); + } + if (q.size() < k_nearest || dist_left_node < q.top().dist) + { + if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != root->left_son_ptr) + { + Search(root->left_son_ptr, k_nearest, point, q, max_dist); + } + else + { + pthread_mutex_lock(&search_flag_mutex); + while (search_mutex_counter == -1) + { + pthread_mutex_unlock(&search_flag_mutex); + usleep(1); + pthread_mutex_lock(&search_flag_mutex); + } + search_mutex_counter += 1; + pthread_mutex_unlock(&search_flag_mutex); + Search(root->left_son_ptr, k_nearest, point, q, max_dist); + pthread_mutex_lock(&search_flag_mutex); + search_mutex_counter -= 1; + pthread_mutex_unlock(&search_flag_mutex); + } + } + } + } + else + { + if (dist_left_node < q.top().dist) + { + if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != root->left_son_ptr) + { + Search(root->left_son_ptr, k_nearest, point, q, max_dist); + } + else + { + pthread_mutex_lock(&search_flag_mutex); + while (search_mutex_counter == -1) + { + pthread_mutex_unlock(&search_flag_mutex); + usleep(1); + pthread_mutex_lock(&search_flag_mutex); + } + search_mutex_counter += 1; + pthread_mutex_unlock(&search_flag_mutex); + Search(root->left_son_ptr, k_nearest, point, q, max_dist); + pthread_mutex_lock(&search_flag_mutex); + search_mutex_counter -= 1; + pthread_mutex_unlock(&search_flag_mutex); + } + } + if (dist_right_node < q.top().dist) + { + if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != root->right_son_ptr) + { + Search(root->right_son_ptr, k_nearest, point, q, max_dist); + } + else + { + pthread_mutex_lock(&search_flag_mutex); + while (search_mutex_counter == -1) + { + pthread_mutex_unlock(&search_flag_mutex); + usleep(1); + pthread_mutex_lock(&search_flag_mutex); + } + search_mutex_counter += 1; + pthread_mutex_unlock(&search_flag_mutex); + Search(root->right_son_ptr, k_nearest, point, q, max_dist); + pthread_mutex_lock(&search_flag_mutex); + search_mutex_counter -= 1; + pthread_mutex_unlock(&search_flag_mutex); + } + } + } + return; +} + +template +void KD_TREE::Search_by_range(KD_TREE_NODE *root, BoxPointType boxpoint, PointVector &Storage) +{ + if (root == nullptr) + return; + Push_Down(root); + if (boxpoint.vertex_max[0] <= root->node_range_x[0] || boxpoint.vertex_min[0] > root->node_range_x[1]) + return; + if (boxpoint.vertex_max[1] <= root->node_range_y[0] || boxpoint.vertex_min[1] > root->node_range_y[1]) + return; + if (boxpoint.vertex_max[2] <= root->node_range_z[0] || boxpoint.vertex_min[2] > root->node_range_z[1]) + return; + if (boxpoint.vertex_min[0] <= root->node_range_x[0] && boxpoint.vertex_max[0] > root->node_range_x[1] && boxpoint.vertex_min[1] <= root->node_range_y[0] && boxpoint.vertex_max[1] > root->node_range_y[1] && boxpoint.vertex_min[2] <= root->node_range_z[0] && boxpoint.vertex_max[2] > root->node_range_z[1]) + { + flatten(root, Storage, NOT_RECORD); + return; + } + if (boxpoint.vertex_min[0] <= root->point.x && boxpoint.vertex_max[0] > root->point.x && boxpoint.vertex_min[1] <= root->point.y && boxpoint.vertex_max[1] > root->point.y && boxpoint.vertex_min[2] <= root->point.z && boxpoint.vertex_max[2] > root->point.z) + { + if (!root->point_deleted) + Storage.push_back(root->point); + } + if ((Rebuild_Ptr == nullptr) || root->left_son_ptr != *Rebuild_Ptr) + { + Search_by_range(root->left_son_ptr, boxpoint, Storage); + } + else + { + pthread_mutex_lock(&search_flag_mutex); + Search_by_range(root->left_son_ptr, boxpoint, Storage); + pthread_mutex_unlock(&search_flag_mutex); + } + if ((Rebuild_Ptr == nullptr) || root->right_son_ptr != *Rebuild_Ptr) + { + Search_by_range(root->right_son_ptr, boxpoint, Storage); + } + else + { + pthread_mutex_lock(&search_flag_mutex); + Search_by_range(root->right_son_ptr, boxpoint, Storage); + pthread_mutex_unlock(&search_flag_mutex); + } + return; +} + +template +void KD_TREE::Search_by_radius(KD_TREE_NODE *root, PointType point, float radius, PointVector &Storage) +{ + if (root == nullptr) + return; + Push_Down(root); + PointType range_center; + range_center.x = (root->node_range_x[0] + root->node_range_x[1]) * 0.5; + range_center.y = (root->node_range_y[0] + root->node_range_y[1]) * 0.5; + range_center.z = (root->node_range_z[0] + root->node_range_z[1]) * 0.5; + float dist = sqrt(calc_dist(range_center, point)); + if (dist > radius + sqrt(root->radius_sq)) return; + if (dist <= radius - sqrt(root->radius_sq)) + { + flatten(root, Storage, NOT_RECORD); + return; + } + if (!root->point_deleted && calc_dist(root->point, point) <= radius * radius){ + Storage.push_back(root->point); + } + if ((Rebuild_Ptr == nullptr) || root->left_son_ptr != *Rebuild_Ptr) + { + Search_by_radius(root->left_son_ptr, point, radius, Storage); + } + else + { + pthread_mutex_lock(&search_flag_mutex); + Search_by_radius(root->left_son_ptr, point, radius, Storage); + pthread_mutex_unlock(&search_flag_mutex); + } + if ((Rebuild_Ptr == nullptr) || root->right_son_ptr != *Rebuild_Ptr) + { + Search_by_radius(root->right_son_ptr, point, radius, Storage); + } + else + { + pthread_mutex_lock(&search_flag_mutex); + Search_by_radius(root->right_son_ptr, point, radius, Storage); + pthread_mutex_unlock(&search_flag_mutex); + } + return; +} + +template +bool KD_TREE::Criterion_Check(KD_TREE_NODE *root) +{ + if (root->TreeSize <= Minimal_Unbalanced_Tree_Size) + { + return false; + } + float balance_evaluation = 0.0f; + float delete_evaluation = 0.0f; + KD_TREE_NODE *son_ptr = root->left_son_ptr; + if (son_ptr == nullptr) + son_ptr = root->right_son_ptr; + delete_evaluation = float(root->invalid_point_num) / root->TreeSize; + balance_evaluation = float(son_ptr->TreeSize) / (root->TreeSize - 1); + if (delete_evaluation > delete_criterion_param) + { + return true; + } + if (balance_evaluation > balance_criterion_param || balance_evaluation < 1 - balance_criterion_param) + { + return true; + } + return false; +} + +template +void KD_TREE::Push_Down(KD_TREE_NODE *root) +{ + if (root == nullptr) + return; + Operation_Logger_Type operation; + operation.op = PUSH_DOWN; + operation.tree_deleted = root->tree_deleted; + operation.tree_downsample_deleted = root->tree_downsample_deleted; + if (root->need_push_down_to_left && root->left_son_ptr != nullptr) + { + if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != root->left_son_ptr) + { + root->left_son_ptr->tree_downsample_deleted |= root->tree_downsample_deleted; + root->left_son_ptr->point_downsample_deleted |= root->tree_downsample_deleted; + root->left_son_ptr->tree_deleted = root->tree_deleted || root->left_son_ptr->tree_downsample_deleted; + root->left_son_ptr->point_deleted = root->left_son_ptr->tree_deleted || root->left_son_ptr->point_downsample_deleted; + if (root->tree_downsample_deleted) + root->left_son_ptr->down_del_num = root->left_son_ptr->TreeSize; + if (root->tree_deleted) + root->left_son_ptr->invalid_point_num = root->left_son_ptr->TreeSize; + else + root->left_son_ptr->invalid_point_num = root->left_son_ptr->down_del_num; + root->left_son_ptr->need_push_down_to_left = true; + root->left_son_ptr->need_push_down_to_right = true; + root->need_push_down_to_left = false; + } + else + { + pthread_mutex_lock(&working_flag_mutex); + root->left_son_ptr->tree_downsample_deleted |= root->tree_downsample_deleted; + root->left_son_ptr->point_downsample_deleted |= root->tree_downsample_deleted; + root->left_son_ptr->tree_deleted = root->tree_deleted || root->left_son_ptr->tree_downsample_deleted; + root->left_son_ptr->point_deleted = root->left_son_ptr->tree_deleted || root->left_son_ptr->point_downsample_deleted; + if (root->tree_downsample_deleted) + root->left_son_ptr->down_del_num = root->left_son_ptr->TreeSize; + if (root->tree_deleted) + root->left_son_ptr->invalid_point_num = root->left_son_ptr->TreeSize; + else + root->left_son_ptr->invalid_point_num = root->left_son_ptr->down_del_num; + root->left_son_ptr->need_push_down_to_left = true; + root->left_son_ptr->need_push_down_to_right = true; + if (rebuild_flag) + { + pthread_mutex_lock(&rebuild_logger_mutex_lock); + Rebuild_Logger.push(operation); + pthread_mutex_unlock(&rebuild_logger_mutex_lock); + } + root->need_push_down_to_left = false; + pthread_mutex_unlock(&working_flag_mutex); + } + } + if (root->need_push_down_to_right && root->right_son_ptr != nullptr) + { + if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != root->right_son_ptr) + { + root->right_son_ptr->tree_downsample_deleted |= root->tree_downsample_deleted; + root->right_son_ptr->point_downsample_deleted |= root->tree_downsample_deleted; + root->right_son_ptr->tree_deleted = root->tree_deleted || root->right_son_ptr->tree_downsample_deleted; + root->right_son_ptr->point_deleted = root->right_son_ptr->tree_deleted || root->right_son_ptr->point_downsample_deleted; + if (root->tree_downsample_deleted) + root->right_son_ptr->down_del_num = root->right_son_ptr->TreeSize; + if (root->tree_deleted) + root->right_son_ptr->invalid_point_num = root->right_son_ptr->TreeSize; + else + root->right_son_ptr->invalid_point_num = root->right_son_ptr->down_del_num; + root->right_son_ptr->need_push_down_to_left = true; + root->right_son_ptr->need_push_down_to_right = true; + root->need_push_down_to_right = false; + } + else + { + pthread_mutex_lock(&working_flag_mutex); + root->right_son_ptr->tree_downsample_deleted |= root->tree_downsample_deleted; + root->right_son_ptr->point_downsample_deleted |= root->tree_downsample_deleted; + root->right_son_ptr->tree_deleted = root->tree_deleted || root->right_son_ptr->tree_downsample_deleted; + root->right_son_ptr->point_deleted = root->right_son_ptr->tree_deleted || root->right_son_ptr->point_downsample_deleted; + if (root->tree_downsample_deleted) + root->right_son_ptr->down_del_num = root->right_son_ptr->TreeSize; + if (root->tree_deleted) + root->right_son_ptr->invalid_point_num = root->right_son_ptr->TreeSize; + else + root->right_son_ptr->invalid_point_num = root->right_son_ptr->down_del_num; + root->right_son_ptr->need_push_down_to_left = true; + root->right_son_ptr->need_push_down_to_right = true; + if (rebuild_flag) + { + pthread_mutex_lock(&rebuild_logger_mutex_lock); + Rebuild_Logger.push(operation); + pthread_mutex_unlock(&rebuild_logger_mutex_lock); + } + root->need_push_down_to_right = false; + pthread_mutex_unlock(&working_flag_mutex); + } + } + return; +} + +template +void KD_TREE::Update(KD_TREE_NODE *root) +{ + KD_TREE_NODE *left_son_ptr = root->left_son_ptr; + KD_TREE_NODE *right_son_ptr = root->right_son_ptr; + float tmp_range_x[2] = {INFINITY, -INFINITY}; + float tmp_range_y[2] = {INFINITY, -INFINITY}; + float tmp_range_z[2] = {INFINITY, -INFINITY}; + // Update Tree Size + if (left_son_ptr != nullptr && right_son_ptr != nullptr) + { + root->TreeSize = left_son_ptr->TreeSize + right_son_ptr->TreeSize + 1; + root->invalid_point_num = left_son_ptr->invalid_point_num + right_son_ptr->invalid_point_num + (root->point_deleted ? 1 : 0); + root->down_del_num = left_son_ptr->down_del_num + right_son_ptr->down_del_num + (root->point_downsample_deleted ? 1 : 0); + root->tree_downsample_deleted = left_son_ptr->tree_downsample_deleted & right_son_ptr->tree_downsample_deleted & root->point_downsample_deleted; + root->tree_deleted = left_son_ptr->tree_deleted && right_son_ptr->tree_deleted && root->point_deleted; + if (root->tree_deleted || (!left_son_ptr->tree_deleted && !right_son_ptr->tree_deleted && !root->point_deleted)) + { + tmp_range_x[0] = min(min(left_son_ptr->node_range_x[0], right_son_ptr->node_range_x[0]), root->point.x); + tmp_range_x[1] = max(max(left_son_ptr->node_range_x[1], right_son_ptr->node_range_x[1]), root->point.x); + tmp_range_y[0] = min(min(left_son_ptr->node_range_y[0], right_son_ptr->node_range_y[0]), root->point.y); + tmp_range_y[1] = max(max(left_son_ptr->node_range_y[1], right_son_ptr->node_range_y[1]), root->point.y); + tmp_range_z[0] = min(min(left_son_ptr->node_range_z[0], right_son_ptr->node_range_z[0]), root->point.z); + tmp_range_z[1] = max(max(left_son_ptr->node_range_z[1], right_son_ptr->node_range_z[1]), root->point.z); + } + else + { + if (!left_son_ptr->tree_deleted) + { + tmp_range_x[0] = min(tmp_range_x[0], left_son_ptr->node_range_x[0]); + tmp_range_x[1] = max(tmp_range_x[1], left_son_ptr->node_range_x[1]); + tmp_range_y[0] = min(tmp_range_y[0], left_son_ptr->node_range_y[0]); + tmp_range_y[1] = max(tmp_range_y[1], left_son_ptr->node_range_y[1]); + tmp_range_z[0] = min(tmp_range_z[0], left_son_ptr->node_range_z[0]); + tmp_range_z[1] = max(tmp_range_z[1], left_son_ptr->node_range_z[1]); + } + if (!right_son_ptr->tree_deleted) + { + tmp_range_x[0] = min(tmp_range_x[0], right_son_ptr->node_range_x[0]); + tmp_range_x[1] = max(tmp_range_x[1], right_son_ptr->node_range_x[1]); + tmp_range_y[0] = min(tmp_range_y[0], right_son_ptr->node_range_y[0]); + tmp_range_y[1] = max(tmp_range_y[1], right_son_ptr->node_range_y[1]); + tmp_range_z[0] = min(tmp_range_z[0], right_son_ptr->node_range_z[0]); + tmp_range_z[1] = max(tmp_range_z[1], right_son_ptr->node_range_z[1]); + } + if (!root->point_deleted) + { + tmp_range_x[0] = min(tmp_range_x[0], root->point.x); + tmp_range_x[1] = max(tmp_range_x[1], root->point.x); + tmp_range_y[0] = min(tmp_range_y[0], root->point.y); + tmp_range_y[1] = max(tmp_range_y[1], root->point.y); + tmp_range_z[0] = min(tmp_range_z[0], root->point.z); + tmp_range_z[1] = max(tmp_range_z[1], root->point.z); + } + } + } + else if (left_son_ptr != nullptr) + { + root->TreeSize = left_son_ptr->TreeSize + 1; + root->invalid_point_num = left_son_ptr->invalid_point_num + (root->point_deleted ? 1 : 0); + root->down_del_num = left_son_ptr->down_del_num + (root->point_downsample_deleted ? 1 : 0); + root->tree_downsample_deleted = left_son_ptr->tree_downsample_deleted & root->point_downsample_deleted; + root->tree_deleted = left_son_ptr->tree_deleted && root->point_deleted; + if (root->tree_deleted || (!left_son_ptr->tree_deleted && !root->point_deleted)) + { + tmp_range_x[0] = min(left_son_ptr->node_range_x[0], root->point.x); + tmp_range_x[1] = max(left_son_ptr->node_range_x[1], root->point.x); + tmp_range_y[0] = min(left_son_ptr->node_range_y[0], root->point.y); + tmp_range_y[1] = max(left_son_ptr->node_range_y[1], root->point.y); + tmp_range_z[0] = min(left_son_ptr->node_range_z[0], root->point.z); + tmp_range_z[1] = max(left_son_ptr->node_range_z[1], root->point.z); + } + else + { + if (!left_son_ptr->tree_deleted) + { + tmp_range_x[0] = min(tmp_range_x[0], left_son_ptr->node_range_x[0]); + tmp_range_x[1] = max(tmp_range_x[1], left_son_ptr->node_range_x[1]); + tmp_range_y[0] = min(tmp_range_y[0], left_son_ptr->node_range_y[0]); + tmp_range_y[1] = max(tmp_range_y[1], left_son_ptr->node_range_y[1]); + tmp_range_z[0] = min(tmp_range_z[0], left_son_ptr->node_range_z[0]); + tmp_range_z[1] = max(tmp_range_z[1], left_son_ptr->node_range_z[1]); + } + if (!root->point_deleted) + { + tmp_range_x[0] = min(tmp_range_x[0], root->point.x); + tmp_range_x[1] = max(tmp_range_x[1], root->point.x); + tmp_range_y[0] = min(tmp_range_y[0], root->point.y); + tmp_range_y[1] = max(tmp_range_y[1], root->point.y); + tmp_range_z[0] = min(tmp_range_z[0], root->point.z); + tmp_range_z[1] = max(tmp_range_z[1], root->point.z); + } + } + } + else if (right_son_ptr != nullptr) + { + root->TreeSize = right_son_ptr->TreeSize + 1; + root->invalid_point_num = right_son_ptr->invalid_point_num + (root->point_deleted ? 1 : 0); + root->down_del_num = right_son_ptr->down_del_num + (root->point_downsample_deleted ? 1 : 0); + root->tree_downsample_deleted = right_son_ptr->tree_downsample_deleted & root->point_downsample_deleted; + root->tree_deleted = right_son_ptr->tree_deleted && root->point_deleted; + if (root->tree_deleted || (!right_son_ptr->tree_deleted && !root->point_deleted)) + { + tmp_range_x[0] = min(right_son_ptr->node_range_x[0], root->point.x); + tmp_range_x[1] = max(right_son_ptr->node_range_x[1], root->point.x); + tmp_range_y[0] = min(right_son_ptr->node_range_y[0], root->point.y); + tmp_range_y[1] = max(right_son_ptr->node_range_y[1], root->point.y); + tmp_range_z[0] = min(right_son_ptr->node_range_z[0], root->point.z); + tmp_range_z[1] = max(right_son_ptr->node_range_z[1], root->point.z); + } + else + { + if (!right_son_ptr->tree_deleted) + { + tmp_range_x[0] = min(tmp_range_x[0], right_son_ptr->node_range_x[0]); + tmp_range_x[1] = max(tmp_range_x[1], right_son_ptr->node_range_x[1]); + tmp_range_y[0] = min(tmp_range_y[0], right_son_ptr->node_range_y[0]); + tmp_range_y[1] = max(tmp_range_y[1], right_son_ptr->node_range_y[1]); + tmp_range_z[0] = min(tmp_range_z[0], right_son_ptr->node_range_z[0]); + tmp_range_z[1] = max(tmp_range_z[1], right_son_ptr->node_range_z[1]); + } + if (!root->point_deleted) + { + tmp_range_x[0] = min(tmp_range_x[0], root->point.x); + tmp_range_x[1] = max(tmp_range_x[1], root->point.x); + tmp_range_y[0] = min(tmp_range_y[0], root->point.y); + tmp_range_y[1] = max(tmp_range_y[1], root->point.y); + tmp_range_z[0] = min(tmp_range_z[0], root->point.z); + tmp_range_z[1] = max(tmp_range_z[1], root->point.z); + } + } + } + else + { + root->TreeSize = 1; + root->invalid_point_num = (root->point_deleted ? 1 : 0); + root->down_del_num = (root->point_downsample_deleted ? 1 : 0); + root->tree_downsample_deleted = root->point_downsample_deleted; + root->tree_deleted = root->point_deleted; + tmp_range_x[0] = root->point.x; + tmp_range_x[1] = root->point.x; + tmp_range_y[0] = root->point.y; + tmp_range_y[1] = root->point.y; + tmp_range_z[0] = root->point.z; + tmp_range_z[1] = root->point.z; + } + memcpy(root->node_range_x, tmp_range_x, sizeof(tmp_range_x)); + memcpy(root->node_range_y, tmp_range_y, sizeof(tmp_range_y)); + memcpy(root->node_range_z, tmp_range_z, sizeof(tmp_range_z)); + float x_L = (root->node_range_x[1] - root->node_range_x[0]) * 0.5; + float y_L = (root->node_range_y[1] - root->node_range_y[0]) * 0.5; + float z_L = (root->node_range_z[1] - root->node_range_z[0]) * 0.5; + root->radius_sq = x_L*x_L + y_L * y_L + z_L * z_L; + if (left_son_ptr != nullptr) + left_son_ptr->father_ptr = root; + if (right_son_ptr != nullptr) + right_son_ptr->father_ptr = root; + if (root == Root_Node && root->TreeSize > 3) + { + KD_TREE_NODE *son_ptr = root->left_son_ptr; + if (son_ptr == nullptr) + son_ptr = root->right_son_ptr; + float tmp_bal = float(son_ptr->TreeSize) / (root->TreeSize - 1); + root->alpha_del = float(root->invalid_point_num) / root->TreeSize; + root->alpha_bal = (tmp_bal >= 0.5 - EPSS) ? tmp_bal : 1 - tmp_bal; + } + return; +} + +template +void KD_TREE::flatten(KD_TREE_NODE *root, PointVector &Storage, delete_point_storage_set storage_type) +{ + if (root == nullptr) + return; + Push_Down(root); + if (!root->point_deleted) + { + Storage.push_back(root->point); + } + flatten(root->left_son_ptr, Storage, storage_type); + flatten(root->right_son_ptr, Storage, storage_type); + switch (storage_type) + { + case NOT_RECORD: + break; + case DELETE_POINTS_REC: + if (root->point_deleted && !root->point_downsample_deleted) + { + Points_deleted.push_back(root->point); + } + break; + case MULTI_THREAD_REC: + if (root->point_deleted && !root->point_downsample_deleted) + { + Multithread_Points_deleted.push_back(root->point); + } + break; + default: + break; + } + return; +} + +template +void KD_TREE::delete_tree_nodes(KD_TREE_NODE **root) +{ + if (*root == nullptr) + return; + Push_Down(*root); + delete_tree_nodes(&(*root)->left_son_ptr); + delete_tree_nodes(&(*root)->right_son_ptr); + + pthread_mutex_destroy(&(*root)->push_down_mutex_lock); + delete *root; + *root = nullptr; + + return; +} + +template +bool KD_TREE::same_point(PointType a, PointType b) +{ + return (fabs(a.x - b.x) < EPSS && fabs(a.y - b.y) < EPSS && fabs(a.z - b.z) < EPSS); +} + +template +float KD_TREE::calc_dist(PointType a, PointType b) +{ + float dist = 0.0f; + dist = (a.x - b.x) * (a.x - b.x) + (a.y - b.y) * (a.y - b.y) + (a.z - b.z) * (a.z - b.z); + return dist; +} + +template +float KD_TREE::calc_box_dist(KD_TREE_NODE *node, PointType point) +{ + if (node == nullptr) + return INFINITY; + float min_dist = 0.0; + if (point.x < node->node_range_x[0]) + min_dist += (point.x - node->node_range_x[0]) * (point.x - node->node_range_x[0]); + if (point.x > node->node_range_x[1]) + min_dist += (point.x - node->node_range_x[1]) * (point.x - node->node_range_x[1]); + if (point.y < node->node_range_y[0]) + min_dist += (point.y - node->node_range_y[0]) * (point.y - node->node_range_y[0]); + if (point.y > node->node_range_y[1]) + min_dist += (point.y - node->node_range_y[1]) * (point.y - node->node_range_y[1]); + if (point.z < node->node_range_z[0]) + min_dist += (point.z - node->node_range_z[0]) * (point.z - node->node_range_z[0]); + if (point.z > node->node_range_z[1]) + min_dist += (point.z - node->node_range_z[1]) * (point.z - node->node_range_z[1]); + return min_dist; +} +template +bool KD_TREE::point_cmp_x(PointType a, PointType b) { return a.x < b.x; } +template +bool KD_TREE::point_cmp_y(PointType a, PointType b) { return a.y < b.y; } +template +bool KD_TREE::point_cmp_z(PointType a, PointType b) { return a.z < b.z; } + +// Manual heap + + + +// manual queue + + +// Manual Instatiations +template class KD_TREE; +template class KD_TREE; +template class KD_TREE; + diff --git a/src/rm_nav/rm_localization/FAST_LIO/include/ikd-Tree/ikd_Tree.h b/src/rm_nav/rm_localization/FAST_LIO/include/ikd-Tree/ikd_Tree.h new file mode 100644 index 0000000..d4b302e --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/include/ikd-Tree/ikd_Tree.h @@ -0,0 +1,344 @@ +#pragma once +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define EPSS 1e-6 +#define Minimal_Unbalanced_Tree_Size 10 +#define Multi_Thread_Rebuild_Point_Num 1500 +#define DOWNSAMPLE_SWITCH true +#define ForceRebuildPercentage 0.2 +#define Q_LEN 1000000 + +using namespace std; + +// typedef pcl::PointXYZINormal PointType; +// typedef vector> PointVector; + +struct BoxPointType +{ + float vertex_min[3]; + float vertex_max[3]; +}; + +enum operation_set +{ + ADD_POINT, + DELETE_POINT, + DELETE_BOX, + ADD_BOX, + DOWNSAMPLE_DELETE, + PUSH_DOWN +}; + +enum delete_point_storage_set +{ + NOT_RECORD, + DELETE_POINTS_REC, + MULTI_THREAD_REC +}; + +template +class KD_TREE +{ + // using MANUAL_Q_ = MANUAL_Q; + // using PointVector = std::vector; + + // using MANUAL_Q_ = MANUAL_Q; +public: + using PointVector = std::vector>; + using Ptr = std::shared_ptr>; + + struct KD_TREE_NODE + { + PointType point; + int division_axis; + int TreeSize = 1; + int invalid_point_num = 0; + int down_del_num = 0; + bool point_deleted = false; + bool tree_deleted = false; + bool point_downsample_deleted = false; + bool tree_downsample_deleted = false; + bool need_push_down_to_left = false; + bool need_push_down_to_right = false; + bool working_flag = false; + pthread_mutex_t push_down_mutex_lock; + float node_range_x[2], node_range_y[2], node_range_z[2]; + float radius_sq; + KD_TREE_NODE *left_son_ptr = nullptr; + KD_TREE_NODE *right_son_ptr = nullptr; + KD_TREE_NODE *father_ptr = nullptr; + // For paper data record + float alpha_del; + float alpha_bal; + }; + + struct Operation_Logger_Type + { + PointType point; + BoxPointType boxpoint; + bool tree_deleted, tree_downsample_deleted; + operation_set op; + }; + // static const PointType zeroP; + + struct PointType_CMP + { + PointType point; + float dist = 0.0; + PointType_CMP(PointType p = PointType(), float d = INFINITY) + { + this->point = p; + this->dist = d; + }; + bool operator<(const PointType_CMP &a) const + { + if (fabs(dist - a.dist) < 1e-10) + return point.x < a.point.x; + else + return dist < a.dist; + } + }; + + class MANUAL_HEAP + { + + public: + MANUAL_HEAP(int max_capacity = 100) + + { + cap = max_capacity; + heap = new PointType_CMP[max_capacity]; + heap_size = 0; + } + + ~MANUAL_HEAP() + { + delete[] heap; + } + void pop() + { + if (heap_size == 0) + return; + heap[0] = heap[heap_size - 1]; + heap_size--; + MoveDown(0); + return; + } + PointType_CMP top() + { + return heap[0]; + } + void push(PointType_CMP point) + { + if (heap_size >= cap) + return; + heap[heap_size] = point; + FloatUp(heap_size); + heap_size++; + return; + } + int size() + { + return heap_size; + } + void clear() + { + heap_size = 0; + return; + } + + private: + PointType_CMP *heap; + void MoveDown(int heap_index) + { + int l = heap_index * 2 + 1; + PointType_CMP tmp = heap[heap_index]; + while (l < heap_size) + { + if (l + 1 < heap_size && heap[l] < heap[l + 1]) + l++; + if (tmp < heap[l]) + { + heap[heap_index] = heap[l]; + heap_index = l; + l = heap_index * 2 + 1; + } + else + break; + } + heap[heap_index] = tmp; + return; + } + void FloatUp(int heap_index) + { + int ancestor = (heap_index - 1) / 2; + PointType_CMP tmp = heap[heap_index]; + while (heap_index > 0) + { + if (heap[ancestor] < tmp) + { + heap[heap_index] = heap[ancestor]; + heap_index = ancestor; + ancestor = (heap_index - 1) / 2; + } + else + break; + } + heap[heap_index] = tmp; + return; + } + int heap_size = 0; + int cap = 0; + }; + + class MANUAL_Q + { + private: + int head = 0, tail = 0, counter = 0; + Operation_Logger_Type q[Q_LEN]; + bool is_empty; + + public: + void pop() + { + if (counter == 0) + return; + head++; + head %= Q_LEN; + counter--; + if (counter == 0) + is_empty = true; + return; + } + Operation_Logger_Type front() + { + return q[head]; + } + Operation_Logger_Type back() + { + return q[tail]; + } + void clear() + { + head = 0; + tail = 0; + counter = 0; + is_empty = true; + return; + } + void push(Operation_Logger_Type op) + { + q[tail] = op; + counter++; + if (is_empty) + is_empty = false; + tail++; + tail %= Q_LEN; + } + bool empty() + { + return is_empty; + } + int size() + { + return counter; + } + }; + +private: + // Multi-thread Tree Rebuild + bool termination_flag = false; + bool rebuild_flag = false; + pthread_t rebuild_thread; + pthread_mutex_t termination_flag_mutex_lock, rebuild_ptr_mutex_lock, working_flag_mutex, search_flag_mutex; + pthread_mutex_t rebuild_logger_mutex_lock, points_deleted_rebuild_mutex_lock; + // queue Rebuild_Logger; + MANUAL_Q Rebuild_Logger; + PointVector Rebuild_PCL_Storage; + KD_TREE_NODE **Rebuild_Ptr = nullptr; + int search_mutex_counter = 0; + static void *multi_thread_ptr(void *arg); + void multi_thread_rebuild(); + void start_thread(); + void stop_thread(); + void run_operation(KD_TREE_NODE **root, Operation_Logger_Type operation); + // KD Tree Functions and augmented variables + int Treesize_tmp = 0, Validnum_tmp = 0; + float alpha_bal_tmp = 0.5, alpha_del_tmp = 0.0; + float delete_criterion_param = 0.5f; + float balance_criterion_param = 0.7f; + float downsample_size = 0.2f; + bool Delete_Storage_Disabled = false; + KD_TREE_NODE *STATIC_ROOT_NODE = nullptr; + PointVector Points_deleted; + PointVector Downsample_Storage; + PointVector Multithread_Points_deleted; + void InitTreeNode(KD_TREE_NODE *root); + void Test_Lock_States(KD_TREE_NODE *root); + void BuildTree(KD_TREE_NODE **root, int l, int r, PointVector &Storage); + void Rebuild(KD_TREE_NODE **root); + int Delete_by_range(KD_TREE_NODE **root, BoxPointType boxpoint, bool allow_rebuild, bool is_downsample); + void Delete_by_point(KD_TREE_NODE **root, PointType point, bool allow_rebuild); + void Add_by_point(KD_TREE_NODE **root, PointType point, bool allow_rebuild, int father_axis); + void Add_by_range(KD_TREE_NODE **root, BoxPointType boxpoint, bool allow_rebuild); + void Search(KD_TREE_NODE *root, int k_nearest, PointType point, MANUAL_HEAP &q, float max_dist); //priority_queue + void Search_by_range(KD_TREE_NODE *root, BoxPointType boxpoint, PointVector &Storage); + void Search_by_radius(KD_TREE_NODE *root, PointType point, float radius, PointVector &Storage); + bool Criterion_Check(KD_TREE_NODE *root); + void Push_Down(KD_TREE_NODE *root); + void Update(KD_TREE_NODE *root); + void delete_tree_nodes(KD_TREE_NODE **root); + void downsample(KD_TREE_NODE **root); + bool same_point(PointType a, PointType b); + float calc_dist(PointType a, PointType b); + float calc_box_dist(KD_TREE_NODE *node, PointType point); + static bool point_cmp_x(PointType a, PointType b); + static bool point_cmp_y(PointType a, PointType b); + static bool point_cmp_z(PointType a, PointType b); + +public: + KD_TREE(float delete_param = 0.5, float balance_param = 0.6, float box_length = 0.2); + ~KD_TREE(); + void Set_delete_criterion_param(float delete_param) + { + delete_criterion_param = delete_param; + } + void Set_balance_criterion_param(float balance_param) + { + balance_criterion_param = balance_param; + } + void set_downsample_param(float downsample_param) + { + downsample_size = downsample_param; + } + void InitializeKDTree(float delete_param = 0.5, float balance_param = 0.7, float box_length = 0.2); + int size(); + int validnum(); + void root_alpha(float &alpha_bal, float &alpha_del); + void Build(PointVector point_cloud); + void Nearest_Search(PointType point, int k_nearest, PointVector &Nearest_Points, vector &Point_Distance, float max_dist = INFINITY); + void Box_Search(const BoxPointType &Box_of_Point, PointVector &Storage); + void Radius_Search(PointType point, const float radius, PointVector &Storage); + int Add_Points(PointVector &PointToAdd, bool downsample_on); + void Add_Point_Boxes(vector &BoxPoints); + void Delete_Points(PointVector &PointToDel); + int Delete_Point_Boxes(vector &BoxPoints); + void flatten(KD_TREE_NODE *root, PointVector &Storage, delete_point_storage_set storage_type); + void acquire_removed_points(PointVector &removed_points); + BoxPointType tree_range(); + PointVector PCL_Storage; + KD_TREE_NODE *Root_Node = nullptr; + int max_queue_size = 0; +}; + +// template +// PointType KD_TREE::zeroP = PointType(0,0,0); diff --git a/src/rm_nav/rm_localization/FAST_LIO/include/matplotlibcpp.h b/src/rm_nav/rm_localization/FAST_LIO/include/matplotlibcpp.h new file mode 100644 index 0000000..6855445 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/include/matplotlibcpp.h @@ -0,0 +1,2499 @@ +#pragma once + +// Python headers must be included before any system headers, since +// they define _POSIX_C_SOURCE +#include + +#include +#include +#include +#include +#include +#include +#include +#include // requires c++11 support +#include + +#ifndef WITHOUT_NUMPY +# define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION +# include + +# ifdef WITH_OPENCV +# include +# endif // WITH_OPENCV + +/* + * A bunch of constants were removed in OpenCV 4 in favour of enum classes, so + * define the ones we need here. + */ +# if CV_MAJOR_VERSION > 3 +# define CV_BGR2RGB cv::COLOR_BGR2RGB +# define CV_BGRA2RGBA cv::COLOR_BGRA2RGBA +# endif +#endif // WITHOUT_NUMPY + +#if PY_MAJOR_VERSION >= 3 +# define PyString_FromString PyUnicode_FromString +# define PyInt_FromLong PyLong_FromLong +# define PyString_FromString PyUnicode_FromString +#endif + + +namespace matplotlibcpp { +namespace detail { + +static std::string s_backend; + +struct _interpreter { + PyObject* s_python_function_arrow; + PyObject *s_python_function_show; + PyObject *s_python_function_close; + PyObject *s_python_function_draw; + PyObject *s_python_function_pause; + PyObject *s_python_function_save; + PyObject *s_python_function_figure; + PyObject *s_python_function_fignum_exists; + PyObject *s_python_function_plot; + PyObject *s_python_function_quiver; + PyObject* s_python_function_contour; + PyObject *s_python_function_semilogx; + PyObject *s_python_function_semilogy; + PyObject *s_python_function_loglog; + PyObject *s_python_function_fill; + PyObject *s_python_function_fill_between; + PyObject *s_python_function_hist; + PyObject *s_python_function_imshow; + PyObject *s_python_function_scatter; + PyObject *s_python_function_boxplot; + PyObject *s_python_function_subplot; + PyObject *s_python_function_subplot2grid; + PyObject *s_python_function_legend; + PyObject *s_python_function_xlim; + PyObject *s_python_function_ion; + PyObject *s_python_function_ginput; + PyObject *s_python_function_ylim; + PyObject *s_python_function_title; + PyObject *s_python_function_axis; + PyObject *s_python_function_axvline; + PyObject *s_python_function_axvspan; + PyObject *s_python_function_xlabel; + PyObject *s_python_function_ylabel; + PyObject *s_python_function_gca; + PyObject *s_python_function_xticks; + PyObject *s_python_function_yticks; + PyObject* s_python_function_margins; + PyObject *s_python_function_tick_params; + PyObject *s_python_function_grid; + PyObject* s_python_function_cla; + PyObject *s_python_function_clf; + PyObject *s_python_function_errorbar; + PyObject *s_python_function_annotate; + PyObject *s_python_function_tight_layout; + PyObject *s_python_colormap; + PyObject *s_python_empty_tuple; + PyObject *s_python_function_stem; + PyObject *s_python_function_xkcd; + PyObject *s_python_function_text; + PyObject *s_python_function_suptitle; + PyObject *s_python_function_bar; + PyObject *s_python_function_colorbar; + PyObject *s_python_function_subplots_adjust; + + + /* For now, _interpreter is implemented as a singleton since its currently not possible to have + multiple independent embedded python interpreters without patching the python source code + or starting a separate process for each. + http://bytes.com/topic/python/answers/793370-multiple-independent-python-interpreters-c-c-program + */ + + static _interpreter& get() { + static _interpreter ctx; + return ctx; + } + + PyObject* safe_import(PyObject* module, std::string fname) { + PyObject* fn = PyObject_GetAttrString(module, fname.c_str()); + + if (!fn) + throw std::runtime_error(std::string("Couldn't find required function: ") + fname); + + if (!PyFunction_Check(fn)) + throw std::runtime_error(fname + std::string(" is unexpectedly not a PyFunction.")); + + return fn; + } + +private: + +#ifndef WITHOUT_NUMPY +# if PY_MAJOR_VERSION >= 3 + + void *import_numpy() { + import_array(); // initialize C-API + return NULL; + } + +# else + + void import_numpy() { + import_array(); // initialize C-API + } + +# endif +#endif + + _interpreter() { + + // optional but recommended +#if PY_MAJOR_VERSION >= 3 + wchar_t name[] = L"plotting"; +#else + char name[] = "plotting"; +#endif + Py_SetProgramName(name); + Py_Initialize(); + +#ifndef WITHOUT_NUMPY + import_numpy(); // initialize numpy C-API +#endif + + PyObject* matplotlibname = PyString_FromString("matplotlib"); + PyObject* pyplotname = PyString_FromString("matplotlib.pyplot"); + PyObject* cmname = PyString_FromString("matplotlib.cm"); + PyObject* pylabname = PyString_FromString("pylab"); + if (!pyplotname || !pylabname || !matplotlibname || !cmname) { + throw std::runtime_error("couldnt create string"); + } + + PyObject* matplotlib = PyImport_Import(matplotlibname); + Py_DECREF(matplotlibname); + if (!matplotlib) { + PyErr_Print(); + throw std::runtime_error("Error loading module matplotlib!"); + } + + // matplotlib.use() must be called *before* pylab, matplotlib.pyplot, + // or matplotlib.backends is imported for the first time + if (!s_backend.empty()) { + PyObject_CallMethod(matplotlib, const_cast("use"), const_cast("s"), s_backend.c_str()); + } + + PyObject* pymod = PyImport_Import(pyplotname); + Py_DECREF(pyplotname); + if (!pymod) { throw std::runtime_error("Error loading module matplotlib.pyplot!"); } + + s_python_colormap = PyImport_Import(cmname); + Py_DECREF(cmname); + if (!s_python_colormap) { throw std::runtime_error("Error loading module matplotlib.cm!"); } + + PyObject* pylabmod = PyImport_Import(pylabname); + Py_DECREF(pylabname); + if (!pylabmod) { throw std::runtime_error("Error loading module pylab!"); } + + s_python_function_arrow = safe_import(pymod, "arrow"); + s_python_function_show = safe_import(pymod, "show"); + s_python_function_close = safe_import(pymod, "close"); + s_python_function_draw = safe_import(pymod, "draw"); + s_python_function_pause = safe_import(pymod, "pause"); + s_python_function_figure = safe_import(pymod, "figure"); + s_python_function_fignum_exists = safe_import(pymod, "fignum_exists"); + s_python_function_plot = safe_import(pymod, "plot"); + s_python_function_quiver = safe_import(pymod, "quiver"); + s_python_function_contour = safe_import(pymod, "contour"); + s_python_function_semilogx = safe_import(pymod, "semilogx"); + s_python_function_semilogy = safe_import(pymod, "semilogy"); + s_python_function_loglog = safe_import(pymod, "loglog"); + s_python_function_fill = safe_import(pymod, "fill"); + s_python_function_fill_between = safe_import(pymod, "fill_between"); + s_python_function_hist = safe_import(pymod,"hist"); + s_python_function_scatter = safe_import(pymod,"scatter"); + s_python_function_boxplot = safe_import(pymod,"boxplot"); + s_python_function_subplot = safe_import(pymod, "subplot"); + s_python_function_subplot2grid = safe_import(pymod, "subplot2grid"); + s_python_function_legend = safe_import(pymod, "legend"); + s_python_function_ylim = safe_import(pymod, "ylim"); + s_python_function_title = safe_import(pymod, "title"); + s_python_function_axis = safe_import(pymod, "axis"); + s_python_function_axvline = safe_import(pymod, "axvline"); + s_python_function_axvspan = safe_import(pymod, "axvspan"); + s_python_function_xlabel = safe_import(pymod, "xlabel"); + s_python_function_ylabel = safe_import(pymod, "ylabel"); + s_python_function_gca = safe_import(pymod, "gca"); + s_python_function_xticks = safe_import(pymod, "xticks"); + s_python_function_yticks = safe_import(pymod, "yticks"); + s_python_function_margins = safe_import(pymod, "margins"); + s_python_function_tick_params = safe_import(pymod, "tick_params"); + s_python_function_grid = safe_import(pymod, "grid"); + s_python_function_xlim = safe_import(pymod, "xlim"); + s_python_function_ion = safe_import(pymod, "ion"); + s_python_function_ginput = safe_import(pymod, "ginput"); + s_python_function_save = safe_import(pylabmod, "savefig"); + s_python_function_annotate = safe_import(pymod,"annotate"); + s_python_function_cla = safe_import(pymod, "cla"); + s_python_function_clf = safe_import(pymod, "clf"); + s_python_function_errorbar = safe_import(pymod, "errorbar"); + s_python_function_tight_layout = safe_import(pymod, "tight_layout"); + s_python_function_stem = safe_import(pymod, "stem"); + s_python_function_xkcd = safe_import(pymod, "xkcd"); + s_python_function_text = safe_import(pymod, "text"); + s_python_function_suptitle = safe_import(pymod, "suptitle"); + s_python_function_bar = safe_import(pymod,"bar"); + s_python_function_colorbar = PyObject_GetAttrString(pymod, "colorbar"); + s_python_function_subplots_adjust = safe_import(pymod,"subplots_adjust"); +#ifndef WITHOUT_NUMPY + s_python_function_imshow = safe_import(pymod, "imshow"); +#endif + s_python_empty_tuple = PyTuple_New(0); + } + + ~_interpreter() { + Py_Finalize(); + } +}; + +} // end namespace detail + +/// Select the backend +/// +/// **NOTE:** This must be called before the first plot command to have +/// any effect. +/// +/// Mainly useful to select the non-interactive 'Agg' backend when running +/// matplotlibcpp in headless mode, for example on a machine with no display. +/// +/// See also: https://matplotlib.org/2.0.2/api/matplotlib_configuration_api.html#matplotlib.use +inline void backend(const std::string& name) +{ + detail::s_backend = name; +} + +inline bool annotate(std::string annotation, double x, double y) +{ + detail::_interpreter::get(); + + PyObject * xy = PyTuple_New(2); + PyObject * str = PyString_FromString(annotation.c_str()); + + PyTuple_SetItem(xy,0,PyFloat_FromDouble(x)); + PyTuple_SetItem(xy,1,PyFloat_FromDouble(y)); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "xy", xy); + + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, str); + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_annotate, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + + if(res) Py_DECREF(res); + + return res; +} + +namespace detail { + +#ifndef WITHOUT_NUMPY +// Type selector for numpy array conversion +template struct select_npy_type { const static NPY_TYPES type = NPY_NOTYPE; }; //Default +template <> struct select_npy_type { const static NPY_TYPES type = NPY_DOUBLE; }; +template <> struct select_npy_type { const static NPY_TYPES type = NPY_FLOAT; }; +template <> struct select_npy_type { const static NPY_TYPES type = NPY_BOOL; }; +template <> struct select_npy_type { const static NPY_TYPES type = NPY_INT8; }; +template <> struct select_npy_type { const static NPY_TYPES type = NPY_SHORT; }; +template <> struct select_npy_type { const static NPY_TYPES type = NPY_INT; }; +template <> struct select_npy_type { const static NPY_TYPES type = NPY_INT64; }; +template <> struct select_npy_type { const static NPY_TYPES type = NPY_UINT8; }; +template <> struct select_npy_type { const static NPY_TYPES type = NPY_USHORT; }; +template <> struct select_npy_type { const static NPY_TYPES type = NPY_ULONG; }; +template <> struct select_npy_type { const static NPY_TYPES type = NPY_UINT64; }; + +// Sanity checks; comment them out or change the numpy type below if you're compiling on +// a platform where they don't apply +static_assert(sizeof(long long) == 8); +template <> struct select_npy_type { const static NPY_TYPES type = NPY_INT64; }; +static_assert(sizeof(unsigned long long) == 8); +template <> struct select_npy_type { const static NPY_TYPES type = NPY_UINT64; }; +// TODO: add int, long, etc. + +template +PyObject* get_array(const std::vector& v) +{ + npy_intp vsize = v.size(); + NPY_TYPES type = select_npy_type::type; + if (type == NPY_NOTYPE) { + size_t memsize = v.size()*sizeof(double); + double* dp = static_cast(::malloc(memsize)); + for (size_t i=0; i(varray), NPY_ARRAY_OWNDATA); + return varray; + } + + PyObject* varray = PyArray_SimpleNewFromData(1, &vsize, type, (void*)(v.data())); + return varray; +} + + +template +PyObject* get_2darray(const std::vector<::std::vector>& v) +{ + if (v.size() < 1) throw std::runtime_error("get_2d_array v too small"); + + npy_intp vsize[2] = {static_cast(v.size()), + static_cast(v[0].size())}; + + PyArrayObject *varray = + (PyArrayObject *)PyArray_SimpleNew(2, vsize, NPY_DOUBLE); + + double *vd_begin = static_cast(PyArray_DATA(varray)); + + for (const ::std::vector &v_row : v) { + if (v_row.size() != static_cast(vsize[1])) + throw std::runtime_error("Missmatched array size"); + std::copy(v_row.begin(), v_row.end(), vd_begin); + vd_begin += vsize[1]; + } + + return reinterpret_cast(varray); +} + +#else // fallback if we don't have numpy: copy every element of the given vector + +template +PyObject* get_array(const std::vector& v) +{ + PyObject* list = PyList_New(v.size()); + for(size_t i = 0; i < v.size(); ++i) { + PyList_SetItem(list, i, PyFloat_FromDouble(v.at(i))); + } + return list; +} + +#endif // WITHOUT_NUMPY + +// sometimes, for labels and such, we need string arrays +inline PyObject * get_array(const std::vector& strings) +{ + PyObject* list = PyList_New(strings.size()); + for (std::size_t i = 0; i < strings.size(); ++i) { + PyList_SetItem(list, i, PyString_FromString(strings[i].c_str())); + } + return list; +} + +// not all matplotlib need 2d arrays, some prefer lists of lists +template +PyObject* get_listlist(const std::vector>& ll) +{ + PyObject* listlist = PyList_New(ll.size()); + for (std::size_t i = 0; i < ll.size(); ++i) { + PyList_SetItem(listlist, i, get_array(ll[i])); + } + return listlist; +} + +} // namespace detail + +/// Plot a line through the given x and y data points.. +/// +/// See: https://matplotlib.org/3.2.1/api/_as_gen/matplotlib.pyplot.plot.html +template +bool plot(const std::vector &x, const std::vector &y, const std::map& keywords) +{ + assert(x.size() == y.size()); + + detail::_interpreter::get(); + + // using numpy arrays + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + // construct positional args + PyObject* args = PyTuple_New(2); + PyTuple_SetItem(args, 0, xarray); + PyTuple_SetItem(args, 1, yarray); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyString_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_plot, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + if(res) Py_DECREF(res); + + return res; +} + +// TODO - it should be possible to make this work by implementing +// a non-numpy alternative for `detail::get_2darray()`. +#ifndef WITHOUT_NUMPY +template +void plot_surface(const std::vector<::std::vector> &x, + const std::vector<::std::vector> &y, + const std::vector<::std::vector> &z, + const std::map &keywords = + std::map()) +{ + detail::_interpreter::get(); + + // We lazily load the modules here the first time this function is called + // because I'm not sure that we can assume "matplotlib installed" implies + // "mpl_toolkits installed" on all platforms, and we don't want to require + // it for people who don't need 3d plots. + static PyObject *mpl_toolkitsmod = nullptr, *axis3dmod = nullptr; + if (!mpl_toolkitsmod) { + detail::_interpreter::get(); + + PyObject* mpl_toolkits = PyString_FromString("mpl_toolkits"); + PyObject* axis3d = PyString_FromString("mpl_toolkits.mplot3d"); + if (!mpl_toolkits || !axis3d) { throw std::runtime_error("couldnt create string"); } + + mpl_toolkitsmod = PyImport_Import(mpl_toolkits); + Py_DECREF(mpl_toolkits); + if (!mpl_toolkitsmod) { throw std::runtime_error("Error loading module mpl_toolkits!"); } + + axis3dmod = PyImport_Import(axis3d); + Py_DECREF(axis3d); + if (!axis3dmod) { throw std::runtime_error("Error loading module mpl_toolkits.mplot3d!"); } + } + + assert(x.size() == y.size()); + assert(y.size() == z.size()); + + // using numpy arrays + PyObject *xarray = detail::get_2darray(x); + PyObject *yarray = detail::get_2darray(y); + PyObject *zarray = detail::get_2darray(z); + + // construct positional args + PyObject *args = PyTuple_New(3); + PyTuple_SetItem(args, 0, xarray); + PyTuple_SetItem(args, 1, yarray); + PyTuple_SetItem(args, 2, zarray); + + // Build up the kw args. + PyObject *kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "rstride", PyInt_FromLong(1)); + PyDict_SetItemString(kwargs, "cstride", PyInt_FromLong(1)); + + PyObject *python_colormap_coolwarm = PyObject_GetAttrString( + detail::_interpreter::get().s_python_colormap, "coolwarm"); + + PyDict_SetItemString(kwargs, "cmap", python_colormap_coolwarm); + + for (std::map::const_iterator it = keywords.begin(); + it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), + PyString_FromString(it->second.c_str())); + } + + + PyObject *fig = + PyObject_CallObject(detail::_interpreter::get().s_python_function_figure, + detail::_interpreter::get().s_python_empty_tuple); + if (!fig) throw std::runtime_error("Call to figure() failed."); + + PyObject *gca_kwargs = PyDict_New(); + PyDict_SetItemString(gca_kwargs, "projection", PyString_FromString("3d")); + + PyObject *gca = PyObject_GetAttrString(fig, "gca"); + if (!gca) throw std::runtime_error("No gca"); + Py_INCREF(gca); + PyObject *axis = PyObject_Call( + gca, detail::_interpreter::get().s_python_empty_tuple, gca_kwargs); + + if (!axis) throw std::runtime_error("No axis"); + Py_INCREF(axis); + + Py_DECREF(gca); + Py_DECREF(gca_kwargs); + + PyObject *plot_surface = PyObject_GetAttrString(axis, "plot_surface"); + if (!plot_surface) throw std::runtime_error("No surface"); + Py_INCREF(plot_surface); + PyObject *res = PyObject_Call(plot_surface, args, kwargs); + if (!res) throw std::runtime_error("failed surface"); + Py_DECREF(plot_surface); + + Py_DECREF(axis); + Py_DECREF(args); + Py_DECREF(kwargs); + if (res) Py_DECREF(res); +} +#endif // WITHOUT_NUMPY + +template +void plot3(const std::vector &x, + const std::vector &y, + const std::vector &z, + const std::map &keywords = + std::map()) +{ + detail::_interpreter::get(); + + // Same as with plot_surface: We lazily load the modules here the first time + // this function is called because I'm not sure that we can assume "matplotlib + // installed" implies "mpl_toolkits installed" on all platforms, and we don't + // want to require it for people who don't need 3d plots. + static PyObject *mpl_toolkitsmod = nullptr, *axis3dmod = nullptr; + if (!mpl_toolkitsmod) { + detail::_interpreter::get(); + + PyObject* mpl_toolkits = PyString_FromString("mpl_toolkits"); + PyObject* axis3d = PyString_FromString("mpl_toolkits.mplot3d"); + if (!mpl_toolkits || !axis3d) { throw std::runtime_error("couldnt create string"); } + + mpl_toolkitsmod = PyImport_Import(mpl_toolkits); + Py_DECREF(mpl_toolkits); + if (!mpl_toolkitsmod) { throw std::runtime_error("Error loading module mpl_toolkits!"); } + + axis3dmod = PyImport_Import(axis3d); + Py_DECREF(axis3d); + if (!axis3dmod) { throw std::runtime_error("Error loading module mpl_toolkits.mplot3d!"); } + } + + assert(x.size() == y.size()); + assert(y.size() == z.size()); + + PyObject *xarray = detail::get_array(x); + PyObject *yarray = detail::get_array(y); + PyObject *zarray = detail::get_array(z); + + // construct positional args + PyObject *args = PyTuple_New(3); + PyTuple_SetItem(args, 0, xarray); + PyTuple_SetItem(args, 1, yarray); + PyTuple_SetItem(args, 2, zarray); + + // Build up the kw args. + PyObject *kwargs = PyDict_New(); + + for (std::map::const_iterator it = keywords.begin(); + it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), + PyString_FromString(it->second.c_str())); + } + + PyObject *fig = + PyObject_CallObject(detail::_interpreter::get().s_python_function_figure, + detail::_interpreter::get().s_python_empty_tuple); + if (!fig) throw std::runtime_error("Call to figure() failed."); + + PyObject *gca_kwargs = PyDict_New(); + PyDict_SetItemString(gca_kwargs, "projection", PyString_FromString("3d")); + + PyObject *gca = PyObject_GetAttrString(fig, "gca"); + if (!gca) throw std::runtime_error("No gca"); + Py_INCREF(gca); + PyObject *axis = PyObject_Call( + gca, detail::_interpreter::get().s_python_empty_tuple, gca_kwargs); + + if (!axis) throw std::runtime_error("No axis"); + Py_INCREF(axis); + + Py_DECREF(gca); + Py_DECREF(gca_kwargs); + + PyObject *plot3 = PyObject_GetAttrString(axis, "plot"); + if (!plot3) throw std::runtime_error("No 3D line plot"); + Py_INCREF(plot3); + PyObject *res = PyObject_Call(plot3, args, kwargs); + if (!res) throw std::runtime_error("Failed 3D line plot"); + Py_DECREF(plot3); + + Py_DECREF(axis); + Py_DECREF(args); + Py_DECREF(kwargs); + if (res) Py_DECREF(res); +} + +template +bool stem(const std::vector &x, const std::vector &y, const std::map& keywords) +{ + assert(x.size() == y.size()); + + detail::_interpreter::get(); + + // using numpy arrays + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + // construct positional args + PyObject* args = PyTuple_New(2); + PyTuple_SetItem(args, 0, xarray); + PyTuple_SetItem(args, 1, yarray); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for (std::map::const_iterator it = + keywords.begin(); it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), + PyString_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call( + detail::_interpreter::get().s_python_function_stem, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + if (res) + Py_DECREF(res); + + return res; +} + +template< typename Numeric > +bool fill(const std::vector& x, const std::vector& y, const std::map& keywords) +{ + assert(x.size() == y.size()); + + detail::_interpreter::get(); + + // using numpy arrays + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + // construct positional args + PyObject* args = PyTuple_New(2); + PyTuple_SetItem(args, 0, xarray); + PyTuple_SetItem(args, 1, yarray); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for (auto it = keywords.begin(); it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_fill, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + + if (res) Py_DECREF(res); + + return res; +} + +template< typename Numeric > +bool fill_between(const std::vector& x, const std::vector& y1, const std::vector& y2, const std::map& keywords) +{ + assert(x.size() == y1.size()); + assert(x.size() == y2.size()); + + detail::_interpreter::get(); + + // using numpy arrays + PyObject* xarray = detail::get_array(x); + PyObject* y1array = detail::get_array(y1); + PyObject* y2array = detail::get_array(y2); + + // construct positional args + PyObject* args = PyTuple_New(3); + PyTuple_SetItem(args, 0, xarray); + PyTuple_SetItem(args, 1, y1array); + PyTuple_SetItem(args, 2, y2array); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_fill_between, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + if(res) Py_DECREF(res); + + return res; +} + +template +bool arrow(Numeric x, Numeric y, Numeric end_x, Numeric end_y, const std::string& fc = "r", + const std::string ec = "k", Numeric head_length = 0.25, Numeric head_width = 0.1625) { + PyObject* obj_x = PyFloat_FromDouble(x); + PyObject* obj_y = PyFloat_FromDouble(y); + PyObject* obj_end_x = PyFloat_FromDouble(end_x); + PyObject* obj_end_y = PyFloat_FromDouble(end_y); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "fc", PyString_FromString(fc.c_str())); + PyDict_SetItemString(kwargs, "ec", PyString_FromString(ec.c_str())); + PyDict_SetItemString(kwargs, "head_width", PyFloat_FromDouble(head_width)); + PyDict_SetItemString(kwargs, "head_length", PyFloat_FromDouble(head_length)); + + PyObject* plot_args = PyTuple_New(4); + PyTuple_SetItem(plot_args, 0, obj_x); + PyTuple_SetItem(plot_args, 1, obj_y); + PyTuple_SetItem(plot_args, 2, obj_end_x); + PyTuple_SetItem(plot_args, 3, obj_end_y); + + PyObject* res = + PyObject_Call(detail::_interpreter::get().s_python_function_arrow, plot_args, kwargs); + + Py_DECREF(plot_args); + Py_DECREF(kwargs); + if (res) + Py_DECREF(res); + + return res; +} + +template< typename Numeric> +bool hist(const std::vector& y, long bins=10,std::string color="b", + double alpha=1.0, bool cumulative=false) +{ + detail::_interpreter::get(); + + PyObject* yarray = detail::get_array(y); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "bins", PyLong_FromLong(bins)); + PyDict_SetItemString(kwargs, "color", PyString_FromString(color.c_str())); + PyDict_SetItemString(kwargs, "alpha", PyFloat_FromDouble(alpha)); + PyDict_SetItemString(kwargs, "cumulative", cumulative ? Py_True : Py_False); + + PyObject* plot_args = PyTuple_New(1); + + PyTuple_SetItem(plot_args, 0, yarray); + + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_hist, plot_args, kwargs); + + + Py_DECREF(plot_args); + Py_DECREF(kwargs); + if(res) Py_DECREF(res); + + return res; +} + +#ifndef WITHOUT_NUMPY +namespace detail { + +inline void imshow(void *ptr, const NPY_TYPES type, const int rows, const int columns, const int colors, const std::map &keywords, PyObject** out) +{ + assert(type == NPY_UINT8 || type == NPY_FLOAT); + assert(colors == 1 || colors == 3 || colors == 4); + + detail::_interpreter::get(); + + // construct args + npy_intp dims[3] = { rows, columns, colors }; + PyObject *args = PyTuple_New(1); + PyTuple_SetItem(args, 0, PyArray_SimpleNewFromData(colors == 1 ? 2 : 3, dims, type, ptr)); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject *res = PyObject_Call(detail::_interpreter::get().s_python_function_imshow, args, kwargs); + Py_DECREF(args); + Py_DECREF(kwargs); + if (!res) + throw std::runtime_error("Call to imshow() failed"); + if (out) + *out = res; + else + Py_DECREF(res); +} + +} // namespace detail + +inline void imshow(const unsigned char *ptr, const int rows, const int columns, const int colors, const std::map &keywords = {}, PyObject** out = nullptr) +{ + detail::imshow((void *) ptr, NPY_UINT8, rows, columns, colors, keywords, out); +} + +inline void imshow(const float *ptr, const int rows, const int columns, const int colors, const std::map &keywords = {}, PyObject** out = nullptr) +{ + detail::imshow((void *) ptr, NPY_FLOAT, rows, columns, colors, keywords, out); +} + +#ifdef WITH_OPENCV +void imshow(const cv::Mat &image, const std::map &keywords = {}) +{ + // Convert underlying type of matrix, if needed + cv::Mat image2; + NPY_TYPES npy_type = NPY_UINT8; + switch (image.type() & CV_MAT_DEPTH_MASK) { + case CV_8U: + image2 = image; + break; + case CV_32F: + image2 = image; + npy_type = NPY_FLOAT; + break; + default: + image.convertTo(image2, CV_MAKETYPE(CV_8U, image.channels())); + } + + // If color image, convert from BGR to RGB + switch (image2.channels()) { + case 3: + cv::cvtColor(image2, image2, CV_BGR2RGB); + break; + case 4: + cv::cvtColor(image2, image2, CV_BGRA2RGBA); + } + + detail::imshow(image2.data, npy_type, image2.rows, image2.cols, image2.channels(), keywords); +} +#endif // WITH_OPENCV +#endif // WITHOUT_NUMPY + +template +bool scatter(const std::vector& x, + const std::vector& y, + const double s=1.0, // The marker size in points**2 + const std::map & keywords = {}) +{ + detail::_interpreter::get(); + + assert(x.size() == y.size()); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "s", PyLong_FromLong(s)); + for (const auto& it : keywords) + { + PyDict_SetItemString(kwargs, it.first.c_str(), PyString_FromString(it.second.c_str())); + } + + PyObject* plot_args = PyTuple_New(2); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_scatter, plot_args, kwargs); + + Py_DECREF(plot_args); + Py_DECREF(kwargs); + if(res) Py_DECREF(res); + + return res; +} + +template +bool boxplot(const std::vector>& data, + const std::vector& labels = {}, + const std::map & keywords = {}) +{ + detail::_interpreter::get(); + + PyObject* listlist = detail::get_listlist(data); + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, listlist); + + PyObject* kwargs = PyDict_New(); + + // kwargs needs the labels, if there are (the correct number of) labels + if (!labels.empty() && labels.size() == data.size()) { + PyDict_SetItemString(kwargs, "labels", detail::get_array(labels)); + } + + // take care of the remaining keywords + for (const auto& it : keywords) + { + PyDict_SetItemString(kwargs, it.first.c_str(), PyString_FromString(it.second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_boxplot, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + + if(res) Py_DECREF(res); + + return res; +} + +template +bool boxplot(const std::vector& data, + const std::map & keywords = {}) +{ + detail::_interpreter::get(); + + PyObject* vector = detail::get_array(data); + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, vector); + + PyObject* kwargs = PyDict_New(); + for (const auto& it : keywords) + { + PyDict_SetItemString(kwargs, it.first.c_str(), PyString_FromString(it.second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_boxplot, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + + if(res) Py_DECREF(res); + + return res; +} + +template +bool bar(const std::vector & x, + const std::vector & y, + std::string ec = "black", + std::string ls = "-", + double lw = 1.0, + const std::map & keywords = {}) +{ + detail::_interpreter::get(); + + PyObject * xarray = detail::get_array(x); + PyObject * yarray = detail::get_array(y); + + PyObject * kwargs = PyDict_New(); + + PyDict_SetItemString(kwargs, "ec", PyString_FromString(ec.c_str())); + PyDict_SetItemString(kwargs, "ls", PyString_FromString(ls.c_str())); + PyDict_SetItemString(kwargs, "lw", PyFloat_FromDouble(lw)); + + for (std::map::const_iterator it = + keywords.begin(); + it != keywords.end(); + ++it) { + PyDict_SetItemString( + kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject * plot_args = PyTuple_New(2); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + + PyObject * res = PyObject_Call( + detail::_interpreter::get().s_python_function_bar, plot_args, kwargs); + + Py_DECREF(plot_args); + Py_DECREF(kwargs); + if (res) Py_DECREF(res); + + return res; +} + +template +bool bar(const std::vector & y, + std::string ec = "black", + std::string ls = "-", + double lw = 1.0, + const std::map & keywords = {}) +{ + using T = typename std::remove_reference::type::value_type; + + detail::_interpreter::get(); + + std::vector x; + for (std::size_t i = 0; i < y.size(); i++) { x.push_back(i); } + + return bar(x, y, ec, ls, lw, keywords); +} + +inline bool subplots_adjust(const std::map& keywords = {}) +{ + detail::_interpreter::get(); + + PyObject* kwargs = PyDict_New(); + for (std::map::const_iterator it = + keywords.begin(); it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), + PyFloat_FromDouble(it->second)); + } + + + PyObject* plot_args = PyTuple_New(0); + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_subplots_adjust, plot_args, kwargs); + + Py_DECREF(plot_args); + Py_DECREF(kwargs); + if(res) Py_DECREF(res); + + return res; +} + +template< typename Numeric> +bool named_hist(std::string label,const std::vector& y, long bins=10, std::string color="b", double alpha=1.0) +{ + detail::_interpreter::get(); + + PyObject* yarray = detail::get_array(y); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "label", PyString_FromString(label.c_str())); + PyDict_SetItemString(kwargs, "bins", PyLong_FromLong(bins)); + PyDict_SetItemString(kwargs, "color", PyString_FromString(color.c_str())); + PyDict_SetItemString(kwargs, "alpha", PyFloat_FromDouble(alpha)); + + + PyObject* plot_args = PyTuple_New(1); + PyTuple_SetItem(plot_args, 0, yarray); + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_hist, plot_args, kwargs); + + Py_DECREF(plot_args); + Py_DECREF(kwargs); + if(res) Py_DECREF(res); + + return res; +} + +template +bool plot(const std::vector& x, const std::vector& y, const std::string& s = "") +{ + assert(x.size() == y.size()); + + detail::_interpreter::get(); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(s.c_str()); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, pystring); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_plot, plot_args); + + Py_DECREF(plot_args); + if(res) Py_DECREF(res); + + return res; +} + +template +bool contour(const std::vector& x, const std::vector& y, + const std::vector& z, + const std::map& keywords = {}) { + assert(x.size() == y.size() && x.size() == z.size()); + + PyObject* xarray = get_array(x); + PyObject* yarray = get_array(y); + PyObject* zarray = get_array(z); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, zarray); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for (std::map::const_iterator it = keywords.begin(); + it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject* res = + PyObject_Call(detail::_interpreter::get().s_python_function_contour, plot_args, kwargs); + + Py_DECREF(kwargs); + Py_DECREF(plot_args); + if (res) + Py_DECREF(res); + + return res; +} + +template +bool quiver(const std::vector& x, const std::vector& y, const std::vector& u, const std::vector& w, const std::map& keywords = {}) +{ + assert(x.size() == y.size() && x.size() == u.size() && u.size() == w.size()); + + detail::_interpreter::get(); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + PyObject* uarray = detail::get_array(u); + PyObject* warray = detail::get_array(w); + + PyObject* plot_args = PyTuple_New(4); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, uarray); + PyTuple_SetItem(plot_args, 3, warray); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call( + detail::_interpreter::get().s_python_function_quiver, plot_args, kwargs); + + Py_DECREF(kwargs); + Py_DECREF(plot_args); + if (res) + Py_DECREF(res); + + return res; +} + +template +bool stem(const std::vector& x, const std::vector& y, const std::string& s = "") +{ + assert(x.size() == y.size()); + + detail::_interpreter::get(); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(s.c_str()); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, pystring); + + PyObject* res = PyObject_CallObject( + detail::_interpreter::get().s_python_function_stem, plot_args); + + Py_DECREF(plot_args); + if (res) + Py_DECREF(res); + + return res; +} + +template +bool semilogx(const std::vector& x, const std::vector& y, const std::string& s = "") +{ + assert(x.size() == y.size()); + + detail::_interpreter::get(); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(s.c_str()); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, pystring); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_semilogx, plot_args); + + Py_DECREF(plot_args); + if(res) Py_DECREF(res); + + return res; +} + +template +bool semilogy(const std::vector& x, const std::vector& y, const std::string& s = "") +{ + assert(x.size() == y.size()); + + detail::_interpreter::get(); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(s.c_str()); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, pystring); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_semilogy, plot_args); + + Py_DECREF(plot_args); + if(res) Py_DECREF(res); + + return res; +} + +template +bool loglog(const std::vector& x, const std::vector& y, const std::string& s = "") +{ + assert(x.size() == y.size()); + + detail::_interpreter::get(); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(s.c_str()); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, pystring); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_loglog, plot_args); + + Py_DECREF(plot_args); + if(res) Py_DECREF(res); + + return res; +} + +template +bool errorbar(const std::vector &x, const std::vector &y, const std::vector &yerr, const std::map &keywords = {}) +{ + assert(x.size() == y.size()); + + detail::_interpreter::get(); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + PyObject* yerrarray = detail::get_array(yerr); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyString_FromString(it->second.c_str())); + } + + PyDict_SetItemString(kwargs, "yerr", yerrarray); + + PyObject *plot_args = PyTuple_New(2); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + + PyObject *res = PyObject_Call(detail::_interpreter::get().s_python_function_errorbar, plot_args, kwargs); + + Py_DECREF(kwargs); + Py_DECREF(plot_args); + + if (res) + Py_DECREF(res); + else + throw std::runtime_error("Call to errorbar() failed."); + + return res; +} + +template +bool named_plot(const std::string& name, const std::vector& y, const std::string& format = "") +{ + detail::_interpreter::get(); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "label", PyString_FromString(name.c_str())); + + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(format.c_str()); + + PyObject* plot_args = PyTuple_New(2); + + PyTuple_SetItem(plot_args, 0, yarray); + PyTuple_SetItem(plot_args, 1, pystring); + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_plot, plot_args, kwargs); + + Py_DECREF(kwargs); + Py_DECREF(plot_args); + if (res) Py_DECREF(res); + + return res; +} + +template +bool named_plot(const std::string& name, const std::vector& x, const std::vector& y, const std::string& format = "") +{ + detail::_interpreter::get(); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "label", PyString_FromString(name.c_str())); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(format.c_str()); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, pystring); + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_plot, plot_args, kwargs); + + Py_DECREF(kwargs); + Py_DECREF(plot_args); + if (res) Py_DECREF(res); + + return res; +} + +template +bool named_semilogx(const std::string& name, const std::vector& x, const std::vector& y, const std::string& format = "") +{ + detail::_interpreter::get(); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "label", PyString_FromString(name.c_str())); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(format.c_str()); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, pystring); + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_semilogx, plot_args, kwargs); + + Py_DECREF(kwargs); + Py_DECREF(plot_args); + if (res) Py_DECREF(res); + + return res; +} + +template +bool named_semilogy(const std::string& name, const std::vector& x, const std::vector& y, const std::string& format = "") +{ + detail::_interpreter::get(); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "label", PyString_FromString(name.c_str())); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(format.c_str()); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, pystring); + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_semilogy, plot_args, kwargs); + + Py_DECREF(kwargs); + Py_DECREF(plot_args); + if (res) Py_DECREF(res); + + return res; +} + +template +bool named_loglog(const std::string& name, const std::vector& x, const std::vector& y, const std::string& format = "") +{ + detail::_interpreter::get(); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "label", PyString_FromString(name.c_str())); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(format.c_str()); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, pystring); + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_loglog, plot_args, kwargs); + + Py_DECREF(kwargs); + Py_DECREF(plot_args); + if (res) Py_DECREF(res); + + return res; +} + +template +bool plot(const std::vector& y, const std::string& format = "") +{ + std::vector x(y.size()); + for(size_t i=0; i +bool plot(const std::vector& y, const std::map& keywords) +{ + std::vector x(y.size()); + for(size_t i=0; i +bool stem(const std::vector& y, const std::string& format = "") +{ + std::vector x(y.size()); + for (size_t i = 0; i < x.size(); ++i) x.at(i) = i; + return stem(x, y, format); +} + +template +void text(Numeric x, Numeric y, const std::string& s = "") +{ + detail::_interpreter::get(); + + PyObject* args = PyTuple_New(3); + PyTuple_SetItem(args, 0, PyFloat_FromDouble(x)); + PyTuple_SetItem(args, 1, PyFloat_FromDouble(y)); + PyTuple_SetItem(args, 2, PyString_FromString(s.c_str())); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_text, args); + if(!res) throw std::runtime_error("Call to text() failed."); + + Py_DECREF(args); + Py_DECREF(res); +} + +inline void colorbar(PyObject* mappable = NULL, const std::map& keywords = {}) +{ + if (mappable == NULL) + throw std::runtime_error("Must call colorbar with PyObject* returned from an image, contour, surface, etc."); + + detail::_interpreter::get(); + + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, mappable); + + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyFloat_FromDouble(it->second)); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_colorbar, args, kwargs); + if(!res) throw std::runtime_error("Call to colorbar() failed."); + + Py_DECREF(args); + Py_DECREF(kwargs); + Py_DECREF(res); +} + + +inline long figure(long number = -1) +{ + detail::_interpreter::get(); + + PyObject *res; + if (number == -1) + res = PyObject_CallObject(detail::_interpreter::get().s_python_function_figure, detail::_interpreter::get().s_python_empty_tuple); + else { + assert(number > 0); + + // Make sure interpreter is initialised + detail::_interpreter::get(); + + PyObject *args = PyTuple_New(1); + PyTuple_SetItem(args, 0, PyLong_FromLong(number)); + res = PyObject_CallObject(detail::_interpreter::get().s_python_function_figure, args); + Py_DECREF(args); + } + + if(!res) throw std::runtime_error("Call to figure() failed."); + + PyObject* num = PyObject_GetAttrString(res, "number"); + if (!num) throw std::runtime_error("Could not get number attribute of figure object"); + const long figureNumber = PyLong_AsLong(num); + + Py_DECREF(num); + Py_DECREF(res); + + return figureNumber; +} + +inline bool fignum_exists(long number) +{ + detail::_interpreter::get(); + + PyObject *args = PyTuple_New(1); + PyTuple_SetItem(args, 0, PyLong_FromLong(number)); + PyObject *res = PyObject_CallObject(detail::_interpreter::get().s_python_function_fignum_exists, args); + if(!res) throw std::runtime_error("Call to fignum_exists() failed."); + + bool ret = PyObject_IsTrue(res); + Py_DECREF(res); + Py_DECREF(args); + + return ret; +} + +inline void figure_size(size_t w, size_t h) +{ + detail::_interpreter::get(); + + const size_t dpi = 100; + PyObject* size = PyTuple_New(2); + PyTuple_SetItem(size, 0, PyFloat_FromDouble((double)w / dpi)); + PyTuple_SetItem(size, 1, PyFloat_FromDouble((double)h / dpi)); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "figsize", size); + PyDict_SetItemString(kwargs, "dpi", PyLong_FromSize_t(dpi)); + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_figure, + detail::_interpreter::get().s_python_empty_tuple, kwargs); + + Py_DECREF(kwargs); + + if(!res) throw std::runtime_error("Call to figure_size() failed."); + Py_DECREF(res); +} + +inline void legend() +{ + detail::_interpreter::get(); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_legend, detail::_interpreter::get().s_python_empty_tuple); + if(!res) throw std::runtime_error("Call to legend() failed."); + + Py_DECREF(res); +} + +inline void legend(const std::map& keywords) +{ + detail::_interpreter::get(); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyString_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_legend, detail::_interpreter::get().s_python_empty_tuple, kwargs); + if(!res) throw std::runtime_error("Call to legend() failed."); + + Py_DECREF(kwargs); + Py_DECREF(res); +} + +template +void ylim(Numeric left, Numeric right) +{ + detail::_interpreter::get(); + + PyObject* list = PyList_New(2); + PyList_SetItem(list, 0, PyFloat_FromDouble(left)); + PyList_SetItem(list, 1, PyFloat_FromDouble(right)); + + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, list); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_ylim, args); + if(!res) throw std::runtime_error("Call to ylim() failed."); + + Py_DECREF(args); + Py_DECREF(res); +} + +template +void xlim(Numeric left, Numeric right) +{ + detail::_interpreter::get(); + + PyObject* list = PyList_New(2); + PyList_SetItem(list, 0, PyFloat_FromDouble(left)); + PyList_SetItem(list, 1, PyFloat_FromDouble(right)); + + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, list); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_xlim, args); + if(!res) throw std::runtime_error("Call to xlim() failed."); + + Py_DECREF(args); + Py_DECREF(res); +} + + +inline double* xlim() +{ + detail::_interpreter::get(); + + PyObject* args = PyTuple_New(0); + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_xlim, args); + PyObject* left = PyTuple_GetItem(res,0); + PyObject* right = PyTuple_GetItem(res,1); + + double* arr = new double[2]; + arr[0] = PyFloat_AsDouble(left); + arr[1] = PyFloat_AsDouble(right); + + if(!res) throw std::runtime_error("Call to xlim() failed."); + + Py_DECREF(res); + return arr; +} + + +inline double* ylim() +{ + detail::_interpreter::get(); + + PyObject* args = PyTuple_New(0); + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_ylim, args); + PyObject* left = PyTuple_GetItem(res,0); + PyObject* right = PyTuple_GetItem(res,1); + + double* arr = new double[2]; + arr[0] = PyFloat_AsDouble(left); + arr[1] = PyFloat_AsDouble(right); + + if(!res) throw std::runtime_error("Call to ylim() failed."); + + Py_DECREF(res); + return arr; +} + +template +inline void xticks(const std::vector &ticks, const std::vector &labels = {}, const std::map& keywords = {}) +{ + assert(labels.size() == 0 || ticks.size() == labels.size()); + + detail::_interpreter::get(); + + // using numpy array + PyObject* ticksarray = detail::get_array(ticks); + + PyObject* args; + if(labels.size() == 0) { + // construct positional args + args = PyTuple_New(1); + PyTuple_SetItem(args, 0, ticksarray); + } else { + // make tuple of tick labels + PyObject* labelstuple = PyTuple_New(labels.size()); + for (size_t i = 0; i < labels.size(); i++) + PyTuple_SetItem(labelstuple, i, PyUnicode_FromString(labels[i].c_str())); + + // construct positional args + args = PyTuple_New(2); + PyTuple_SetItem(args, 0, ticksarray); + PyTuple_SetItem(args, 1, labelstuple); + } + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyString_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_xticks, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + if(!res) throw std::runtime_error("Call to xticks() failed"); + + Py_DECREF(res); +} + +template +inline void xticks(const std::vector &ticks, const std::map& keywords) +{ + xticks(ticks, {}, keywords); +} + +template +inline void yticks(const std::vector &ticks, const std::vector &labels = {}, const std::map& keywords = {}) +{ + assert(labels.size() == 0 || ticks.size() == labels.size()); + + detail::_interpreter::get(); + + // using numpy array + PyObject* ticksarray = detail::get_array(ticks); + + PyObject* args; + if(labels.size() == 0) { + // construct positional args + args = PyTuple_New(1); + PyTuple_SetItem(args, 0, ticksarray); + } else { + // make tuple of tick labels + PyObject* labelstuple = PyTuple_New(labels.size()); + for (size_t i = 0; i < labels.size(); i++) + PyTuple_SetItem(labelstuple, i, PyUnicode_FromString(labels[i].c_str())); + + // construct positional args + args = PyTuple_New(2); + PyTuple_SetItem(args, 0, ticksarray); + PyTuple_SetItem(args, 1, labelstuple); + } + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyString_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_yticks, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + if(!res) throw std::runtime_error("Call to yticks() failed"); + + Py_DECREF(res); +} + +template +inline void yticks(const std::vector &ticks, const std::map& keywords) +{ + yticks(ticks, {}, keywords); +} + +template inline void margins(Numeric margin) +{ + // construct positional args + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, PyFloat_FromDouble(margin)); + + PyObject* res = + PyObject_CallObject(detail::_interpreter::get().s_python_function_margins, args); + if (!res) + throw std::runtime_error("Call to margins() failed."); + + Py_DECREF(args); + Py_DECREF(res); +} + +template inline void margins(Numeric margin_x, Numeric margin_y) +{ + // construct positional args + PyObject* args = PyTuple_New(2); + PyTuple_SetItem(args, 0, PyFloat_FromDouble(margin_x)); + PyTuple_SetItem(args, 1, PyFloat_FromDouble(margin_y)); + + PyObject* res = + PyObject_CallObject(detail::_interpreter::get().s_python_function_margins, args); + if (!res) + throw std::runtime_error("Call to margins() failed."); + + Py_DECREF(args); + Py_DECREF(res); +} + + +inline void tick_params(const std::map& keywords, const std::string axis = "both") +{ + detail::_interpreter::get(); + + // construct positional args + PyObject* args; + args = PyTuple_New(1); + PyTuple_SetItem(args, 0, PyString_FromString(axis.c_str())); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for (std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyString_FromString(it->second.c_str())); + } + + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_tick_params, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + if (!res) throw std::runtime_error("Call to tick_params() failed"); + + Py_DECREF(res); +} + +inline void subplot(long nrows, long ncols, long plot_number) +{ + detail::_interpreter::get(); + + // construct positional args + PyObject* args = PyTuple_New(3); + PyTuple_SetItem(args, 0, PyFloat_FromDouble(nrows)); + PyTuple_SetItem(args, 1, PyFloat_FromDouble(ncols)); + PyTuple_SetItem(args, 2, PyFloat_FromDouble(plot_number)); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_subplot, args); + if(!res) throw std::runtime_error("Call to subplot() failed."); + + Py_DECREF(args); + Py_DECREF(res); +} + +inline void subplot2grid(long nrows, long ncols, long rowid=0, long colid=0, long rowspan=1, long colspan=1) +{ + detail::_interpreter::get(); + + PyObject* shape = PyTuple_New(2); + PyTuple_SetItem(shape, 0, PyLong_FromLong(nrows)); + PyTuple_SetItem(shape, 1, PyLong_FromLong(ncols)); + + PyObject* loc = PyTuple_New(2); + PyTuple_SetItem(loc, 0, PyLong_FromLong(rowid)); + PyTuple_SetItem(loc, 1, PyLong_FromLong(colid)); + + PyObject* args = PyTuple_New(4); + PyTuple_SetItem(args, 0, shape); + PyTuple_SetItem(args, 1, loc); + PyTuple_SetItem(args, 2, PyLong_FromLong(rowspan)); + PyTuple_SetItem(args, 3, PyLong_FromLong(colspan)); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_subplot2grid, args); + if(!res) throw std::runtime_error("Call to subplot2grid() failed."); + + Py_DECREF(shape); + Py_DECREF(loc); + Py_DECREF(args); + Py_DECREF(res); +} + +inline void title(const std::string &titlestr, const std::map &keywords = {}) +{ + detail::_interpreter::get(); + + PyObject* pytitlestr = PyString_FromString(titlestr.c_str()); + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, pytitlestr); + + PyObject* kwargs = PyDict_New(); + for (auto it = keywords.begin(); it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_title, args, kwargs); + if(!res) throw std::runtime_error("Call to title() failed."); + + Py_DECREF(args); + Py_DECREF(kwargs); + Py_DECREF(res); +} + +inline void suptitle(const std::string &suptitlestr, const std::map &keywords = {}) +{ + detail::_interpreter::get(); + + PyObject* pysuptitlestr = PyString_FromString(suptitlestr.c_str()); + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, pysuptitlestr); + + PyObject* kwargs = PyDict_New(); + for (auto it = keywords.begin(); it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_suptitle, args, kwargs); + if(!res) throw std::runtime_error("Call to suptitle() failed."); + + Py_DECREF(args); + Py_DECREF(kwargs); + Py_DECREF(res); +} + +inline void axis(const std::string &axisstr) +{ + detail::_interpreter::get(); + + PyObject* str = PyString_FromString(axisstr.c_str()); + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, str); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_axis, args); + if(!res) throw std::runtime_error("Call to title() failed."); + + Py_DECREF(args); + Py_DECREF(res); +} + +inline void axvline(double x, double ymin = 0., double ymax = 1., const std::map& keywords = std::map()) +{ + detail::_interpreter::get(); + + // construct positional args + PyObject* args = PyTuple_New(3); + PyTuple_SetItem(args, 0, PyFloat_FromDouble(x)); + PyTuple_SetItem(args, 1, PyFloat_FromDouble(ymin)); + PyTuple_SetItem(args, 2, PyFloat_FromDouble(ymax)); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyString_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_axvline, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + + if(res) Py_DECREF(res); +} + +inline void axvspan(double xmin, double xmax, double ymin = 0., double ymax = 1., const std::map& keywords = std::map()) +{ + // construct positional args + PyObject* args = PyTuple_New(4); + PyTuple_SetItem(args, 0, PyFloat_FromDouble(xmin)); + PyTuple_SetItem(args, 1, PyFloat_FromDouble(xmax)); + PyTuple_SetItem(args, 2, PyFloat_FromDouble(ymin)); + PyTuple_SetItem(args, 3, PyFloat_FromDouble(ymax)); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + if (it->first == "linewidth" || it->first == "alpha") + PyDict_SetItemString(kwargs, it->first.c_str(), PyFloat_FromDouble(std::stod(it->second))); + else + PyDict_SetItemString(kwargs, it->first.c_str(), PyString_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_axvspan, args, kwargs); + Py_DECREF(args); + Py_DECREF(kwargs); + + if(res) Py_DECREF(res); +} + +inline void xlabel(const std::string &str, const std::map &keywords = {}) +{ + detail::_interpreter::get(); + + PyObject* pystr = PyString_FromString(str.c_str()); + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, pystr); + + PyObject* kwargs = PyDict_New(); + for (auto it = keywords.begin(); it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_xlabel, args, kwargs); + if(!res) throw std::runtime_error("Call to xlabel() failed."); + + Py_DECREF(args); + Py_DECREF(kwargs); + Py_DECREF(res); +} + +inline void ylabel(const std::string &str, const std::map& keywords = {}) +{ + detail::_interpreter::get(); + + PyObject* pystr = PyString_FromString(str.c_str()); + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, pystr); + + PyObject* kwargs = PyDict_New(); + for (auto it = keywords.begin(); it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_ylabel, args, kwargs); + if(!res) throw std::runtime_error("Call to ylabel() failed."); + + Py_DECREF(args); + Py_DECREF(kwargs); + Py_DECREF(res); +} + +inline void set_zlabel(const std::string &str, const std::map& keywords = {}) +{ + detail::_interpreter::get(); + + // Same as with plot_surface: We lazily load the modules here the first time + // this function is called because I'm not sure that we can assume "matplotlib + // installed" implies "mpl_toolkits installed" on all platforms, and we don't + // want to require it for people who don't need 3d plots. + static PyObject *mpl_toolkitsmod = nullptr, *axis3dmod = nullptr; + if (!mpl_toolkitsmod) { + PyObject* mpl_toolkits = PyString_FromString("mpl_toolkits"); + PyObject* axis3d = PyString_FromString("mpl_toolkits.mplot3d"); + if (!mpl_toolkits || !axis3d) { throw std::runtime_error("couldnt create string"); } + + mpl_toolkitsmod = PyImport_Import(mpl_toolkits); + Py_DECREF(mpl_toolkits); + if (!mpl_toolkitsmod) { throw std::runtime_error("Error loading module mpl_toolkits!"); } + + axis3dmod = PyImport_Import(axis3d); + Py_DECREF(axis3d); + if (!axis3dmod) { throw std::runtime_error("Error loading module mpl_toolkits.mplot3d!"); } + } + + PyObject* pystr = PyString_FromString(str.c_str()); + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, pystr); + + PyObject* kwargs = PyDict_New(); + for (auto it = keywords.begin(); it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject *ax = + PyObject_CallObject(detail::_interpreter::get().s_python_function_gca, + detail::_interpreter::get().s_python_empty_tuple); + if (!ax) throw std::runtime_error("Call to gca() failed."); + Py_INCREF(ax); + + PyObject *zlabel = PyObject_GetAttrString(ax, "set_zlabel"); + if (!zlabel) throw std::runtime_error("Attribute set_zlabel not found."); + Py_INCREF(zlabel); + + PyObject *res = PyObject_Call(zlabel, args, kwargs); + if (!res) throw std::runtime_error("Call to set_zlabel() failed."); + Py_DECREF(zlabel); + + Py_DECREF(ax); + Py_DECREF(args); + Py_DECREF(kwargs); + if (res) Py_DECREF(res); +} + +inline void grid(bool flag) +{ + detail::_interpreter::get(); + + PyObject* pyflag = flag ? Py_True : Py_False; + Py_INCREF(pyflag); + + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, pyflag); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_grid, args); + if(!res) throw std::runtime_error("Call to grid() failed."); + + Py_DECREF(args); + Py_DECREF(res); +} + +inline void show(const bool block = true) +{ + detail::_interpreter::get(); + + PyObject* res; + if(block) + { + res = PyObject_CallObject( + detail::_interpreter::get().s_python_function_show, + detail::_interpreter::get().s_python_empty_tuple); + } + else + { + PyObject *kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "block", Py_False); + res = PyObject_Call( detail::_interpreter::get().s_python_function_show, detail::_interpreter::get().s_python_empty_tuple, kwargs); + Py_DECREF(kwargs); + } + + + if (!res) throw std::runtime_error("Call to show() failed."); + + Py_DECREF(res); +} + +inline void close() +{ + detail::_interpreter::get(); + + PyObject* res = PyObject_CallObject( + detail::_interpreter::get().s_python_function_close, + detail::_interpreter::get().s_python_empty_tuple); + + if (!res) throw std::runtime_error("Call to close() failed."); + + Py_DECREF(res); +} + +inline void xkcd() { + detail::_interpreter::get(); + + PyObject* res; + PyObject *kwargs = PyDict_New(); + + res = PyObject_Call(detail::_interpreter::get().s_python_function_xkcd, + detail::_interpreter::get().s_python_empty_tuple, kwargs); + + Py_DECREF(kwargs); + + if (!res) + throw std::runtime_error("Call to show() failed."); + + Py_DECREF(res); +} + +inline void draw() +{ + detail::_interpreter::get(); + + PyObject* res = PyObject_CallObject( + detail::_interpreter::get().s_python_function_draw, + detail::_interpreter::get().s_python_empty_tuple); + + if (!res) throw std::runtime_error("Call to draw() failed."); + + Py_DECREF(res); +} + +template +inline void pause(Numeric interval) +{ + detail::_interpreter::get(); + + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, PyFloat_FromDouble(interval)); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_pause, args); + if(!res) throw std::runtime_error("Call to pause() failed."); + + Py_DECREF(args); + Py_DECREF(res); +} + +inline void save(const std::string& filename) +{ + detail::_interpreter::get(); + + PyObject* pyfilename = PyString_FromString(filename.c_str()); + + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, pyfilename); + std::cout<<"args:"<> ginput(const int numClicks = 1, const std::map& keywords = {}) +{ + detail::_interpreter::get(); + + PyObject *args = PyTuple_New(1); + PyTuple_SetItem(args, 0, PyLong_FromLong(numClicks)); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call( + detail::_interpreter::get().s_python_function_ginput, args, kwargs); + + Py_DECREF(kwargs); + Py_DECREF(args); + if (!res) throw std::runtime_error("Call to ginput() failed."); + + const size_t len = PyList_Size(res); + std::vector> out; + out.reserve(len); + for (size_t i = 0; i < len; i++) { + PyObject *current = PyList_GetItem(res, i); + std::array position; + position[0] = PyFloat_AsDouble(PyTuple_GetItem(current, 0)); + position[1] = PyFloat_AsDouble(PyTuple_GetItem(current, 1)); + out.push_back(position); + } + Py_DECREF(res); + + return out; +} + +// Actually, is there any reason not to call this automatically for every plot? +inline void tight_layout() { + detail::_interpreter::get(); + + PyObject *res = PyObject_CallObject( + detail::_interpreter::get().s_python_function_tight_layout, + detail::_interpreter::get().s_python_empty_tuple); + + if (!res) throw std::runtime_error("Call to tight_layout() failed."); + + Py_DECREF(res); +} + +// Support for variadic plot() and initializer lists: + +namespace detail { + +template +using is_function = typename std::is_function>>::type; + +template +struct is_callable_impl; + +template +struct is_callable_impl +{ + typedef is_function type; +}; // a non-object is callable iff it is a function + +template +struct is_callable_impl +{ + struct Fallback { void operator()(); }; + struct Derived : T, Fallback { }; + + template struct Check; + + template + static std::true_type test( ... ); // use a variadic function to make sure (1) it accepts everything and (2) its always the worst match + + template + static std::false_type test( Check* ); + +public: + typedef decltype(test(nullptr)) type; + typedef decltype(&Fallback::operator()) dtype; + static constexpr bool value = type::value; +}; // an object is callable iff it defines operator() + +template +struct is_callable +{ + // dispatch to is_callable_impl or is_callable_impl depending on whether T is of class type or not + typedef typename is_callable_impl::value, T>::type type; +}; + +template +struct plot_impl { }; + +template<> +struct plot_impl +{ + template + bool operator()(const IterableX& x, const IterableY& y, const std::string& format) + { + // 2-phase lookup for distance, begin, end + using std::distance; + using std::begin; + using std::end; + + auto xs = distance(begin(x), end(x)); + auto ys = distance(begin(y), end(y)); + assert(xs == ys && "x and y data must have the same number of elements!"); + + PyObject* xlist = PyList_New(xs); + PyObject* ylist = PyList_New(ys); + PyObject* pystring = PyString_FromString(format.c_str()); + + auto itx = begin(x), ity = begin(y); + for(size_t i = 0; i < xs; ++i) { + PyList_SetItem(xlist, i, PyFloat_FromDouble(*itx++)); + PyList_SetItem(ylist, i, PyFloat_FromDouble(*ity++)); + } + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xlist); + PyTuple_SetItem(plot_args, 1, ylist); + PyTuple_SetItem(plot_args, 2, pystring); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_plot, plot_args); + + Py_DECREF(plot_args); + if(res) Py_DECREF(res); + + return res; + } +}; + +template<> +struct plot_impl +{ + template + bool operator()(const Iterable& ticks, const Callable& f, const std::string& format) + { + if(begin(ticks) == end(ticks)) return true; + + // We could use additional meta-programming to deduce the correct element type of y, + // but all values have to be convertible to double anyways + std::vector y; + for(auto x : ticks) y.push_back(f(x)); + return plot_impl()(ticks,y,format); + } +}; + +} // end namespace detail + +// recursion stop for the above +template +bool plot() { return true; } + +template +bool plot(const A& a, const B& b, const std::string& format, Args... args) +{ + return detail::plot_impl::type>()(a,b,format) && plot(args...); +} + +/* + * This group of plot() functions is needed to support initializer lists, i.e. calling + * plot( {1,2,3,4} ) + */ +inline bool plot(const std::vector& x, const std::vector& y, const std::string& format = "") { + return plot(x,y,format); +} + +inline bool plot(const std::vector& y, const std::string& format = "") { + return plot(y,format); +} + +inline bool plot(const std::vector& x, const std::vector& y, const std::map& keywords) { + return plot(x,y,keywords); +} + +/* + * This class allows dynamic plots, ie changing the plotted data without clearing and re-plotting + */ +class Plot +{ +public: + // default initialization with plot label, some data and format + template + Plot(const std::string& name, const std::vector& x, const std::vector& y, const std::string& format = "") { + detail::_interpreter::get(); + + assert(x.size() == y.size()); + + PyObject* kwargs = PyDict_New(); + if(name != "") + PyDict_SetItemString(kwargs, "label", PyString_FromString(name.c_str())); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(format.c_str()); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, pystring); + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_plot, plot_args, kwargs); + + Py_DECREF(kwargs); + Py_DECREF(plot_args); + + if(res) + { + line= PyList_GetItem(res, 0); + + if(line) + set_data_fct = PyObject_GetAttrString(line,"set_data"); + else + Py_DECREF(line); + Py_DECREF(res); + } + } + + // shorter initialization with name or format only + // basically calls line, = plot([], []) + Plot(const std::string& name = "", const std::string& format = "") + : Plot(name, std::vector(), std::vector(), format) {} + + template + bool update(const std::vector& x, const std::vector& y) { + assert(x.size() == y.size()); + if(set_data_fct) + { + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* plot_args = PyTuple_New(2); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + + PyObject* res = PyObject_CallObject(set_data_fct, plot_args); + if (res) Py_DECREF(res); + return res; + } + return false; + } + + // clears the plot but keep it available + bool clear() { + return update(std::vector(), std::vector()); + } + + // definitely remove this line + void remove() { + if(line) + { + auto remove_fct = PyObject_GetAttrString(line,"remove"); + PyObject* args = PyTuple_New(0); + PyObject* res = PyObject_CallObject(remove_fct, args); + if (res) Py_DECREF(res); + } + decref(); + } + + ~Plot() { + decref(); + } +private: + + void decref() { + if(line) + Py_DECREF(line); + if(set_data_fct) + Py_DECREF(set_data_fct); + } + + + PyObject* line = nullptr; + PyObject* set_data_fct = nullptr; +}; + +} // end namespace matplotlibcpp diff --git a/src/rm_nav/rm_localization/FAST_LIO/include/so3_math.h b/src/rm_nav/rm_localization/FAST_LIO/include/so3_math.h new file mode 100644 index 0000000..8530c3c --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/include/so3_math.h @@ -0,0 +1,111 @@ +#ifndef SO3_MATH_H +#define SO3_MATH_H + +#include +#include + +#define SKEW_SYM_MATRX(v) 0.0,-v[2],v[1],v[2],0.0,-v[0],-v[1],v[0],0.0 + +template +Eigen::Matrix skew_sym_mat(const Eigen::Matrix &v) +{ + Eigen::Matrix skew_sym_mat; + skew_sym_mat<<0.0,-v[2],v[1],v[2],0.0,-v[0],-v[1],v[0],0.0; + return skew_sym_mat; +} + +template +Eigen::Matrix Exp(const Eigen::Matrix &&ang) +{ + T ang_norm = ang.norm(); + Eigen::Matrix Eye3 = Eigen::Matrix::Identity(); + if (ang_norm > 0.0000001) + { + Eigen::Matrix r_axis = ang / ang_norm; + Eigen::Matrix K; + K << SKEW_SYM_MATRX(r_axis); + /// Roderigous Tranformation + return Eye3 + std::sin(ang_norm) * K + (1.0 - std::cos(ang_norm)) * K * K; + } + else + { + return Eye3; + } +} + +template +Eigen::Matrix Exp(const Eigen::Matrix &ang_vel, const Ts &dt) +{ + T ang_vel_norm = ang_vel.norm(); + Eigen::Matrix Eye3 = Eigen::Matrix::Identity(); + + if (ang_vel_norm > 0.0000001) + { + Eigen::Matrix r_axis = ang_vel / ang_vel_norm; + Eigen::Matrix K; + + K << SKEW_SYM_MATRX(r_axis); + + T r_ang = ang_vel_norm * dt; + + /// Roderigous Tranformation + return Eye3 + std::sin(r_ang) * K + (1.0 - std::cos(r_ang)) * K * K; + } + else + { + return Eye3; + } +} + +template +Eigen::Matrix Exp(const T &v1, const T &v2, const T &v3) +{ + T &&norm = sqrt(v1 * v1 + v2 * v2 + v3 * v3); + Eigen::Matrix Eye3 = Eigen::Matrix::Identity(); + if (norm > 0.00001) + { + T r_ang[3] = {v1 / norm, v2 / norm, v3 / norm}; + Eigen::Matrix K; + K << SKEW_SYM_MATRX(r_ang); + + /// Roderigous Tranformation + return Eye3 + std::sin(norm) * K + (1.0 - std::cos(norm)) * K * K; + } + else + { + return Eye3; + } +} + +/* Logrithm of a Rotation Matrix */ +template +Eigen::Matrix Log(const Eigen::Matrix &R) +{ + T theta = (R.trace() > 3.0 - 1e-6) ? 0.0 : std::acos(0.5 * (R.trace() - 1)); + Eigen::Matrix K(R(2,1) - R(1,2), R(0,2) - R(2,0), R(1,0) - R(0,1)); + return (std::abs(theta) < 0.001) ? (0.5 * K) : (0.5 * theta / std::sin(theta) * K); +} + +template +Eigen::Matrix RotMtoEuler(const Eigen::Matrix &rot) +{ + T sy = sqrt(rot(0,0)*rot(0,0) + rot(1,0)*rot(1,0)); + bool singular = sy < 1e-6; + T x, y, z; + if(!singular) + { + x = atan2(rot(2, 1), rot(2, 2)); + y = atan2(-rot(2, 0), sy); + z = atan2(rot(1, 0), rot(0, 0)); + } + else + { + x = atan2(-rot(1, 2), rot(1, 1)); + y = atan2(-rot(2, 0), sy); + z = 0; + } + Eigen::Matrix ang(x, y, z); + return ang; +} + +#endif diff --git a/src/rm_nav/rm_localization/FAST_LIO/include/use-ikfom.hpp b/src/rm_nav/rm_localization/FAST_LIO/include/use-ikfom.hpp new file mode 100644 index 0000000..fdd8f87 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/include/use-ikfom.hpp @@ -0,0 +1,126 @@ +#ifndef USE_IKFOM_H +#define USE_IKFOM_H + +#include + +typedef MTK::vect<3, double> vect3; +typedef MTK::SO3 SO3; +typedef MTK::S2 S2; +typedef MTK::vect<1, double> vect1; +typedef MTK::vect<2, double> vect2; + +MTK_BUILD_MANIFOLD(state_ikfom, +((vect3, pos)) +((SO3, rot)) +((SO3, offset_R_L_I)) +((vect3, offset_T_L_I)) +((vect3, vel)) +((vect3, bg)) +((vect3, ba)) +((S2, grav)) +); + +MTK_BUILD_MANIFOLD(input_ikfom, +((vect3, acc)) +((vect3, gyro)) +); + +MTK_BUILD_MANIFOLD(process_noise_ikfom, +((vect3, ng)) +((vect3, na)) +((vect3, nbg)) +((vect3, nba)) +); + +MTK::get_cov::type process_noise_cov() +{ + MTK::get_cov::type cov = MTK::get_cov::type::Zero(); + MTK::setDiagonal(cov, &process_noise_ikfom::ng, 0.0001);// 0.03 + MTK::setDiagonal(cov, &process_noise_ikfom::na, 0.0001); // *dt 0.01 0.01 * dt * dt 0.05 + MTK::setDiagonal(cov, &process_noise_ikfom::nbg, 0.00001); // *dt 0.00001 0.00001 * dt *dt 0.3 //0.001 0.0001 0.01 + MTK::setDiagonal(cov, &process_noise_ikfom::nba, 0.00001); //0.001 0.05 0.0001/out 0.01 + return cov; +} + +//double L_offset_to_I[3] = {0.04165, 0.02326, -0.0284}; // Avia +//vect3 Lidar_offset_to_IMU(L_offset_to_I, 3); +Eigen::Matrix get_f(state_ikfom &s, const input_ikfom &in) +{ + Eigen::Matrix res = Eigen::Matrix::Zero(); + vect3 omega; + in.gyro.boxminus(omega, s.bg); + vect3 a_inertial = s.rot * (in.acc-s.ba); + for(int i = 0; i < 3; i++ ){ + res(i) = s.vel[i]; + res(i + 3) = omega[i]; + res(i + 12) = a_inertial[i] + s.grav[i]; + } + return res; +} + +Eigen::Matrix df_dx(state_ikfom &s, const input_ikfom &in) +{ + Eigen::Matrix cov = Eigen::Matrix::Zero(); + cov.template block<3, 3>(0, 12) = Eigen::Matrix3d::Identity(); + vect3 acc_; + in.acc.boxminus(acc_, s.ba); + vect3 omega; + in.gyro.boxminus(omega, s.bg); + cov.template block<3, 3>(12, 3) = -s.rot.toRotationMatrix()*MTK::hat(acc_); + cov.template block<3, 3>(12, 18) = -s.rot.toRotationMatrix(); + Eigen::Matrix vec = Eigen::Matrix::Zero(); + Eigen::Matrix grav_matrix; + s.S2_Mx(grav_matrix, vec, 21); + cov.template block<3, 2>(12, 21) = grav_matrix; + cov.template block<3, 3>(3, 15) = -Eigen::Matrix3d::Identity(); + return cov; +} + + +Eigen::Matrix df_dw(state_ikfom &s, const input_ikfom &in) +{ + Eigen::Matrix cov = Eigen::Matrix::Zero(); + cov.template block<3, 3>(12, 3) = -s.rot.toRotationMatrix(); + cov.template block<3, 3>(3, 0) = -Eigen::Matrix3d::Identity(); + cov.template block<3, 3>(15, 6) = Eigen::Matrix3d::Identity(); + cov.template block<3, 3>(18, 9) = Eigen::Matrix3d::Identity(); + return cov; +} + +vect3 SO3ToEuler(const SO3 &orient) +{ + Eigen::Matrix _ang; + Eigen::Vector4d q_data = orient.coeffs().transpose(); + //scalar w=orient.coeffs[3], x=orient.coeffs[0], y=orient.coeffs[1], z=orient.coeffs[2]; + double sqw = q_data[3]*q_data[3]; + double sqx = q_data[0]*q_data[0]; + double sqy = q_data[1]*q_data[1]; + double sqz = q_data[2]*q_data[2]; + double unit = sqx + sqy + sqz + sqw; // if normalized is one, otherwise is correction factor + double test = q_data[3]*q_data[1] - q_data[2]*q_data[0]; + + if (test > 0.49999*unit) { // singularity at north pole + + _ang << 2 * std::atan2(q_data[0], q_data[3]), M_PI/2, 0; + double temp[3] = {_ang[0] * 57.3, _ang[1] * 57.3, _ang[2] * 57.3}; + vect3 euler_ang(temp, 3); + return euler_ang; + } + if (test < -0.49999*unit) { // singularity at south pole + _ang << -2 * std::atan2(q_data[0], q_data[3]), -M_PI/2, 0; + double temp[3] = {_ang[0] * 57.3, _ang[1] * 57.3, _ang[2] * 57.3}; + vect3 euler_ang(temp, 3); + return euler_ang; + } + + _ang << + std::atan2(2*q_data[0]*q_data[3]+2*q_data[1]*q_data[2] , -sqx - sqy + sqz + sqw), + std::asin (2*test/unit), + std::atan2(2*q_data[2]*q_data[3]+2*q_data[1]*q_data[0] , sqx - sqy - sqz + sqw); + double temp[3] = {_ang[0] * 57.3, _ang[1] * 57.3, _ang[2] * 57.3}; + vect3 euler_ang(temp, 3); + // euler_ang[0] = roll, euler_ang[1] = pitch, euler_ang[2] = yaw + return euler_ang; +} + +#endif \ No newline at end of file diff --git a/src/rm_nav/rm_localization/FAST_LIO/launch/gdb_debug_example.launch b/src/rm_nav/rm_localization/FAST_LIO/launch/gdb_debug_example.launch new file mode 100644 index 0000000..d1f86ad --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/launch/gdb_debug_example.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/src/rm_nav/rm_localization/FAST_LIO/launch/mapping.launch.py b/src/rm_nav/rm_localization/FAST_LIO/launch/mapping.launch.py new file mode 100644 index 0000000..b76313d --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/launch/mapping.launch.py @@ -0,0 +1,70 @@ +import os.path + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch.conditions import IfCondition + +from launch_ros.actions import Node + + +def generate_launch_description(): + package_path = get_package_share_directory('fast_lio') + default_config_path = os.path.join(package_path, 'config') + default_rviz_config_path = os.path.join( + package_path, 'rviz', 'fastlio.rviz') + + use_sim_time = LaunchConfiguration('use_sim_time') + config_path = LaunchConfiguration('config_path') + config_file = LaunchConfiguration('config_file') + rviz_use = LaunchConfiguration('rviz') + rviz_cfg = LaunchConfiguration('rviz_cfg') + + declare_use_sim_time_cmd = DeclareLaunchArgument( + 'use_sim_time', default_value='false', + description='Use simulation (Gazebo) clock if true' + ) + declare_config_path_cmd = DeclareLaunchArgument( + 'config_path', default_value=default_config_path, + description='Yaml config file path' + ) + decalre_config_file_cmd = DeclareLaunchArgument( + 'config_file', default_value='mid360.yaml', + description='Config file' + ) + declare_rviz_cmd = DeclareLaunchArgument( + 'rviz', default_value='true', + description='Use RViz to monitor results' + ) + declare_rviz_config_path_cmd = DeclareLaunchArgument( + 'rviz_cfg', default_value=default_rviz_config_path, + description='RViz config file path' + ) + + fast_lio_node = Node( + package='fast_lio', + executable='fastlio_mapping', + parameters=[PathJoinSubstitution([config_path, config_file]), + {'use_sim_time': use_sim_time}], + output='screen' + ) + rviz_node = Node( + package='rviz2', + executable='rviz2', + arguments=['-d', rviz_cfg], + condition=IfCondition(rviz_use) + ) + + ld = LaunchDescription() + ld.add_action(declare_use_sim_time_cmd) + ld.add_action(declare_config_path_cmd) + ld.add_action(decalre_config_file_cmd) + ld.add_action(declare_rviz_cmd) + ld.add_action(declare_rviz_config_path_cmd) + + ld.add_action(fast_lio_node) + ld.add_action(rviz_node) + + return ld diff --git a/src/rm_nav/rm_localization/FAST_LIO/msg/Pose6D.msg b/src/rm_nav/rm_localization/FAST_LIO/msg/Pose6D.msg new file mode 100644 index 0000000..1ebd1fd --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/msg/Pose6D.msg @@ -0,0 +1,7 @@ +# the preintegrated Lidar states at the time of IMU measurements in a frame +float64 offset_time # the offset time of IMU measurement w.r.t the first lidar point +float64[3] acc # the preintegrated total acceleration (global frame) at the Lidar origin +float64[3] gyr # the unbiased angular velocity (body frame) at the Lidar origin +float64[3] vel # the preintegrated velocity (global frame) at the Lidar origin +float64[3] pos # the preintegrated position (global frame) at the Lidar origin +float64[9] rot # the preintegrated rotation (global frame) at the Lidar origin \ No newline at end of file diff --git a/src/rm_nav/rm_localization/FAST_LIO/package.xml b/src/rm_nav/rm_localization/FAST_LIO/package.xml new file mode 100644 index 0000000..8c39e18 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/package.xml @@ -0,0 +1,38 @@ + + + fast_lio + 0.0.0 + + + This is a modified version of LOAM which is original algorithm + is described in the following paper: + J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time. + Robotics: Science and Systems Conference (RSS). Berkeley, CA, July 2014. + + + claydergc + + BSD + + Ji Zhang + + ament_cmake + rosidl_default_generators + geometry_msgs + nav_msgs + rclcpp + std_msgs + sensor_msgs + common_interfaces + tf2 + pcl_ros + pcl_conversions + livox_ros_driver2 + + rosidl_default_runtime + rosidl_interface_packages + + + ament_cmake + + diff --git a/src/rm_nav/rm_localization/FAST_LIO/rviz/fastlio.rviz b/src/rm_nav/rm_localization/FAST_LIO/rviz/fastlio.rviz new file mode 100644 index 0000000..d907d25 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/rviz/fastlio.rviz @@ -0,0 +1,304 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 549 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: CloudRegistered +Visualization Manager: + Class: "" + Displays: + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + body: + Value: true + camera_init: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + camera_init: + body: + {} + Update Interval: 0 + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz_default_plugins/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 100 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /Odometry + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /path + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 11.062739372253418 + Min Value: -13.864188194274902 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 30 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 186 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: CloudRegistered + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cloud_registered + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 184 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: CloudEffected + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cloud_effected + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: -9999 + Min Value: 9999 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 255 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: CloudMap + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /Laser_map + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 0; 0; 0 + Fixed Frame: camera_init + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 216.99887084960938 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.008504047989845276 + Y: -0.0005770106799900532 + Z: 0.034441977739334106 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.5697963237762451 + Target Frame: + Value: Orbit (rviz_default_plugins) + Yaw: 4.88355827331543 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1453 + X: 368 + Y: 104 diff --git a/src/rm_nav/rm_localization/FAST_LIO/rviz_cfg/.gitignore b/src/rm_nav/rm_localization/FAST_LIO/rviz_cfg/.gitignore new file mode 100644 index 0000000..e69de29 diff --git a/src/rm_nav/rm_localization/FAST_LIO/rviz_cfg/loam_livox.rviz b/src/rm_nav/rm_localization/FAST_LIO/rviz_cfg/loam_livox.rviz new file mode 100644 index 0000000..ea3cdf3 --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/rviz_cfg/loam_livox.rviz @@ -0,0 +1,358 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /mapping1 + - /mapping1/surround1 + - /mapping1/currPoints1 + - /mapping1/currPoints1/Autocompute Value Bounds1 + - /Odometry1/Odometry1 + - /Odometry1/Odometry1/Shape1 + - /Odometry1/Odometry1/Covariance1 + - /Odometry1/Odometry1/Covariance1/Position1 + - /Odometry1/Odometry1/Covariance1/Orientation1 + - /MarkerArray1/Namespaces1 + Splitter Ratio: 0.6432291865348816 + Tree Height: 811 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: surround +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 1 + Cell Size: 1000 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 40 + Reference Frame: + Value: false + - Class: rviz/Axes + Enabled: false + Length: 0.699999988079071 + Name: Axes + Radius: 0.05999999865889549 + Reference Frame: + Value: false + - Class: rviz/Group + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 238; 238; 236 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 238; 238; 236 + Name: surround + Position Transformer: XYZ + Queue Size: 1 + Selectable: false + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Points + Topic: /cloud_registered + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.10000000149011612 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 15 + Min Value: -5 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 1000 + Enabled: true + Invert Rainbow: true + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: currPoints + Position Transformer: XYZ + Queue Size: 100000 + Selectable: true + Size (Pixels): 1 + Size (m): 0.009999999776482582 + Style: Points + Topic: /cloud_registered + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: /Laser_map + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + Enabled: true + Name: mapping + - Class: rviz/Group + Displays: + - Angle Tolerance: 0.009999999776482582 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 1 + Name: Odometry + Position Tolerance: 0.0010000000474974513 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.20000000298023224 + Color: 255; 85; 0 + Head Length: 0 + Head Radius: 0 + Shaft Length: 0.05000000074505806 + Shaft Radius: 0.05000000074505806 + Value: Axes + Topic: /Odometry + Unreliable: false + Value: true + Enabled: true + Name: Odometry + - Class: rviz/Axes + Enabled: true + Length: 0.699999988079071 + Name: Axes + Radius: 0.10000000149011612 + Reference Frame: + Value: true + - Alpha: 0 + Buffer Length: 2 + Class: rviz/Path + Color: 25; 255; 255 + Enabled: true + Head Diameter: 0 + Head Length: 0 + Length: 0.30000001192092896 + Line Style: Billboards + Line Width: 0.20000000298023224 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 25; 255; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.4000000059604645 + Shaft Length: 0.4000000059604645 + Topic: /path + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: false + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 239; 41; 41 + Max Intensity: 0 + Min Color: 239; 41; 41 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 4 + Size (m): 0.30000001192092896 + Style: Spheres + Topic: /cloud_effected + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 13.139549255371094 + Min Value: -32.08251953125 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 138; 226; 52 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 138; 226; 52 + Min Color: 138; 226; 52 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: /Laser_map + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /MarkerArray + Name: MarkerArray + Namespaces: + {} + Queue Size: 100 + Value: false + Enabled: true + Global Options: + Background Color: 0; 0; 0 + Default Light: true + Fixed Frame: camera_init + Frame Rate: 10 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 46.0853271484375 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -4.982542037963867 + Y: -15.83572006225586 + Z: -3.063523054122925 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.399796724319458 + Target Frame: global + Value: Orbit (rviz) + Yaw: 1.277182698249817 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1028 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1567 + X: 67 + Y: 24 diff --git a/src/rm_nav/rm_localization/FAST_LIO/src/IMU_Processing.hpp b/src/rm_nav/rm_localization/FAST_LIO/src/IMU_Processing.hpp new file mode 100644 index 0000000..f35378f --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/src/IMU_Processing.hpp @@ -0,0 +1,379 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "use-ikfom.hpp" + +/// *************Preconfiguration + +#define MAX_INI_COUNT (10) + +const bool time_list(PointType &x, PointType &y) {return (x.curvature < y.curvature);}; + +/// *************IMU Process and undistortion +class ImuProcess +{ + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + ImuProcess(); + ~ImuProcess(); + + void Reset(); + // void Reset(double start_timestamp, const sensor_msgs::ImuConstPtr &lastimu); + void Reset(double start_timestamp, const sensor_msgs::msg::Imu::ConstSharedPtr &lastimu); + void set_extrinsic(const V3D &transl, const M3D &rot); + void set_extrinsic(const V3D &transl); + void set_extrinsic(const MD(4,4) &T); + void set_gyr_cov(const V3D &scaler); + void set_acc_cov(const V3D &scaler); + void set_gyr_bias_cov(const V3D &b_g); + void set_acc_bias_cov(const V3D &b_a); + Eigen::Matrix Q; + void Process(const MeasureGroup &meas, esekfom::esekf &kf_state, PointCloudXYZI::Ptr pcl_un_); + + ofstream fout_imu; + V3D cov_acc; + V3D cov_gyr; + V3D cov_acc_scale; + V3D cov_gyr_scale; + V3D cov_bias_gyr; + V3D cov_bias_acc; + double first_lidar_time; + + private: + void IMU_init(const MeasureGroup &meas, esekfom::esekf &kf_state, int &N); + void UndistortPcl(const MeasureGroup &meas, esekfom::esekf &kf_state, PointCloudXYZI &pcl_in_out); + + PointCloudXYZI::Ptr cur_pcl_un_; + // sensor_msgs::ImuConstPtr last_imu_; + sensor_msgs::msg::Imu::ConstSharedPtr last_imu_; + deque v_imu_; + vector IMUpose; + vector v_rot_pcl_; + M3D Lidar_R_wrt_IMU; + V3D Lidar_T_wrt_IMU; + V3D mean_acc; + V3D mean_gyr; + V3D angvel_last; + V3D acc_s_last; + double start_timestamp_; + double last_lidar_end_time_; + int init_iter_num = 1; + bool b_first_frame_ = true; + bool imu_need_init_ = true; +}; + +ImuProcess::ImuProcess() + : b_first_frame_(true), imu_need_init_(true), start_timestamp_(-1) +{ + init_iter_num = 1; + Q = process_noise_cov(); + cov_acc = V3D(0.1, 0.1, 0.1); + cov_gyr = V3D(0.1, 0.1, 0.1); + cov_bias_gyr = V3D(0.0001, 0.0001, 0.0001); + cov_bias_acc = V3D(0.0001, 0.0001, 0.0001); + mean_acc = V3D(0, 0, -1.0); + mean_gyr = V3D(0, 0, 0); + angvel_last = Zero3d; + Lidar_T_wrt_IMU = Zero3d; + Lidar_R_wrt_IMU = Eye3d; + last_imu_.reset(new sensor_msgs::msg::Imu()); +} + +ImuProcess::~ImuProcess() {} + +void ImuProcess::Reset() +{ + // ROS_WARN("Reset ImuProcess"); + mean_acc = V3D(0, 0, -1.0); + mean_gyr = V3D(0, 0, 0); + angvel_last = Zero3d; + imu_need_init_ = true; + start_timestamp_ = -1; + init_iter_num = 1; + v_imu_.clear(); + IMUpose.clear(); + last_imu_.reset(new sensor_msgs::msg::Imu()); + cur_pcl_un_.reset(new PointCloudXYZI()); +} + +void ImuProcess::set_extrinsic(const MD(4,4) &T) +{ + Lidar_T_wrt_IMU = T.block<3,1>(0,3); + Lidar_R_wrt_IMU = T.block<3,3>(0,0); +} + +void ImuProcess::set_extrinsic(const V3D &transl) +{ + Lidar_T_wrt_IMU = transl; + Lidar_R_wrt_IMU.setIdentity(); +} + +void ImuProcess::set_extrinsic(const V3D &transl, const M3D &rot) +{ + Lidar_T_wrt_IMU = transl; + Lidar_R_wrt_IMU = rot; +} + +void ImuProcess::set_gyr_cov(const V3D &scaler) +{ + cov_gyr_scale = scaler; +} + +void ImuProcess::set_acc_cov(const V3D &scaler) +{ + cov_acc_scale = scaler; +} + +void ImuProcess::set_gyr_bias_cov(const V3D &b_g) +{ + cov_bias_gyr = b_g; +} + +void ImuProcess::set_acc_bias_cov(const V3D &b_a) +{ + cov_bias_acc = b_a; +} + +void ImuProcess::IMU_init(const MeasureGroup &meas, esekfom::esekf &kf_state, int &N) +{ + /** 1. initializing the gravity, gyro bias, acc and gyro covariance + ** 2. normalize the acceleration measurenments to unit gravity **/ + + V3D cur_acc, cur_gyr; + + if (b_first_frame_) + { + Reset(); + N = 1; + b_first_frame_ = false; + const auto &imu_acc = meas.imu.front()->linear_acceleration; + const auto &gyr_acc = meas.imu.front()->angular_velocity; + mean_acc << imu_acc.x, imu_acc.y, imu_acc.z; + mean_gyr << gyr_acc.x, gyr_acc.y, gyr_acc.z; + first_lidar_time = meas.lidar_beg_time; + } + + for (const auto &imu : meas.imu) + { + const auto &imu_acc = imu->linear_acceleration; + const auto &gyr_acc = imu->angular_velocity; + cur_acc << imu_acc.x, imu_acc.y, imu_acc.z; + cur_gyr << gyr_acc.x, gyr_acc.y, gyr_acc.z; + + mean_acc += (cur_acc - mean_acc) / N; + mean_gyr += (cur_gyr - mean_gyr) / N; + + cov_acc = cov_acc * (N - 1.0) / N + (cur_acc - mean_acc).cwiseProduct(cur_acc - mean_acc) * (N - 1.0) / (N * N); + cov_gyr = cov_gyr * (N - 1.0) / N + (cur_gyr - mean_gyr).cwiseProduct(cur_gyr - mean_gyr) * (N - 1.0) / (N * N); + + // cout<<"acc norm: "<::cov init_P = kf_state.get_P(); + init_P.setIdentity(); + init_P(6,6) = init_P(7,7) = init_P(8,8) = 0.00001; + init_P(9,9) = init_P(10,10) = init_P(11,11) = 0.00001; + init_P(15,15) = init_P(16,16) = init_P(17,17) = 0.0001; + init_P(18,18) = init_P(19,19) = init_P(20,20) = 0.001; + init_P(21,21) = init_P(22,22) = 0.00001; + kf_state.change_P(init_P); + last_imu_ = meas.imu.back(); + +} + +void ImuProcess::UndistortPcl(const MeasureGroup &meas, esekfom::esekf &kf_state, PointCloudXYZI &pcl_out) +{ + /*** add the imu of the last frame-tail to the of current frame-head ***/ + auto v_imu = meas.imu; + v_imu.push_front(last_imu_); + const double &imu_beg_time = rclcpp::Time(v_imu.front()->header.stamp).seconds(); + const double &imu_end_time = rclcpp::Time(v_imu.back()->header.stamp).seconds(); + const double &pcl_beg_time = meas.lidar_beg_time; + const double &pcl_end_time = meas.lidar_end_time; + + /*** sort point clouds by offset time ***/ + pcl_out = *(meas.lidar); + sort(pcl_out.points.begin(), pcl_out.points.end(), time_list); + // cout<<"[ IMU Process ]: Process lidar from "<header.stamp).seconds(); + double head_stamp = rclcpp::Time(head->header.stamp).seconds(); + + if (tail_stamp < last_lidar_end_time_) continue; + + angvel_avr<<0.5 * (head->angular_velocity.x + tail->angular_velocity.x), + 0.5 * (head->angular_velocity.y + tail->angular_velocity.y), + 0.5 * (head->angular_velocity.z + tail->angular_velocity.z); + acc_avr <<0.5 * (head->linear_acceleration.x + tail->linear_acceleration.x), + 0.5 * (head->linear_acceleration.y + tail->linear_acceleration.y), + 0.5 * (head->linear_acceleration.z + tail->linear_acceleration.z); + + // fout_imu << setw(10) << head->header.stamp.toSec() - first_lidar_time << " " << angvel_avr.transpose() << " " << acc_avr.transpose() << endl; + + acc_avr = acc_avr * G_m_s2 / mean_acc.norm(); // - state_inout.ba; + + if(head_stamp < last_lidar_end_time_) + { + dt = tail_stamp - last_lidar_end_time_; + // dt = tail->header.stamp.toSec() - pcl_beg_time; + } + else + { + dt = tail_stamp - head_stamp; + } + + in.acc = acc_avr; + in.gyro = angvel_avr; + Q.block<3, 3>(0, 0).diagonal() = cov_gyr; + Q.block<3, 3>(3, 3).diagonal() = cov_acc; + Q.block<3, 3>(6, 6).diagonal() = cov_bias_gyr; + Q.block<3, 3>(9, 9).diagonal() = cov_bias_acc; + kf_state.predict(dt, Q, in); + + /* save the poses at each IMU measurements */ + imu_state = kf_state.get_x(); + angvel_last = angvel_avr - imu_state.bg; + acc_s_last = imu_state.rot * (acc_avr - imu_state.ba); + for(int i=0; i<3; i++) + { + acc_s_last[i] += imu_state.grav[i]; + } + double &&offs_t = tail_stamp - pcl_beg_time; + IMUpose.push_back(set_pose6d(offs_t, acc_s_last, angvel_last, imu_state.vel, imu_state.pos, imu_state.rot.toRotationMatrix())); + } + + /*** calculated the pos and attitude prediction at the frame-end ***/ + double note = pcl_end_time > imu_end_time ? 1.0 : -1.0; + dt = note * (pcl_end_time - imu_end_time); + kf_state.predict(dt, Q, in); + + imu_state = kf_state.get_x(); + last_imu_ = meas.imu.back(); + last_lidar_end_time_ = pcl_end_time; + + /*** undistort each lidar point (backward propagation) ***/ + if (pcl_out.points.begin() == pcl_out.points.end()) return; + auto it_pcl = pcl_out.points.end() - 1; + for (auto it_kp = IMUpose.end() - 1; it_kp != IMUpose.begin(); it_kp--) + { + auto head = it_kp - 1; + auto tail = it_kp; + R_imu<rot); + // cout<<"head imu acc: "<vel); + pos_imu<pos); + acc_imu<acc); + angvel_avr<gyr); + + for(; it_pcl->curvature / double(1000) > head->offset_time; it_pcl --) + { + dt = it_pcl->curvature / double(1000) - head->offset_time; + + /* Transform to the 'end' frame, using only the rotation + * Note: Compensation direction is INVERSE of Frame's moving direction + * So if we want to compensate a point at timestamp-i to the frame-e + * P_compensate = R_imu_e ^ T * (R_i * P_i + T_ei) where T_ei is represented in global frame */ + M3D R_i(R_imu * Exp(angvel_avr, dt)); + + V3D P_i(it_pcl->x, it_pcl->y, it_pcl->z); + V3D T_ei(pos_imu + vel_imu * dt + 0.5 * acc_imu * dt * dt - imu_state.pos); + V3D P_compensate = imu_state.offset_R_L_I.conjugate() * (imu_state.rot.conjugate() * (R_i * (imu_state.offset_R_L_I * P_i + imu_state.offset_T_L_I) + T_ei) - imu_state.offset_T_L_I);// not accurate! + + // save Undistorted points and their rotation + it_pcl->x = P_compensate(0); + it_pcl->y = P_compensate(1); + it_pcl->z = P_compensate(2); + + if (it_pcl == pcl_out.points.begin()) break; + } + } +} + +void ImuProcess::Process(const MeasureGroup &meas, esekfom::esekf &kf_state, PointCloudXYZI::Ptr cur_pcl_un_) +{ + double t1,t2,t3; + t1 = omp_get_wtime(); + + if(meas.imu.empty()) {return;}; + assert(meas.lidar != nullptr); + + if (imu_need_init_) + { + /// The very first lidar frame + IMU_init(meas, kf_state, init_iter_num); + + imu_need_init_ = true; + + last_imu_ = meas.imu.back(); + + state_ikfom imu_state = kf_state.get_x(); + if (init_iter_num > MAX_INI_COUNT) + { + cov_acc *= pow(G_m_s2 / mean_acc.norm(), 2); + imu_need_init_ = false; + + cov_acc = cov_acc_scale; + cov_gyr = cov_gyr_scale; + std::cout << "IMU Initial Done" << std::endl; + // ROS_INFO("IMU Initial Done: Gravity: %.4f %.4f %.4f %.4f; state.bias_g: %.4f %.4f %.4f; acc covarience: %.8f %.8f %.8f; gry covarience: %.8f %.8f %.8f",\ + // imu_state.grav[0], imu_state.grav[1], imu_state.grav[2], mean_acc.norm(), cov_bias_gyr[0], cov_bias_gyr[1], cov_bias_gyr[2], cov_acc[0], cov_acc[1], cov_acc[2], cov_gyr[0], cov_gyr[1], cov_gyr[2]); + fout_imu.open(DEBUG_FILE_DIR("imu.txt"),ios::out); + } + + return; + } + + UndistortPcl(meas, kf_state, *cur_pcl_un_); + + t2 = omp_get_wtime(); + t3 = omp_get_wtime(); + + // cout<<"[ IMU Process ]: Time: "< +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "IMU_Processing.hpp" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include "preprocess.h" +#include + +#define INIT_TIME (0.1) +#define LASER_POINT_COV (0.001) +#define MAXN (720000) +#define PUBFRAME_PERIOD (20) + +/*** Time Log Variables ***/ +double kdtree_incremental_time = 0.0, kdtree_search_time = 0.0, kdtree_delete_time = 0.0; +double T1[MAXN], s_plot[MAXN], s_plot2[MAXN], s_plot3[MAXN], s_plot4[MAXN], s_plot5[MAXN], s_plot6[MAXN], s_plot7[MAXN], s_plot8[MAXN], s_plot9[MAXN], s_plot10[MAXN], s_plot11[MAXN]; +double match_time = 0, solve_time = 0, solve_const_H_time = 0; +int kdtree_size_st = 0, kdtree_size_end = 0, add_point_size = 0, kdtree_delete_counter = 0; +bool runtime_pos_log = false, pcd_save_en = false, time_sync_en = false, extrinsic_est_en = true, path_en = true; +/**************************/ + +float res_last[100000] = {0.0}; +float DET_RANGE = 300.0f; +const float MOV_THRESHOLD = 1.5f; +double time_diff_lidar_to_imu = 0.0; + +mutex mtx_buffer; +condition_variable sig_buffer; + +string root_dir = ROOT_DIR; +string map_file_path, lid_topic, imu_topic; + +double res_mean_last = 0.05, total_residual = 0.0; +double last_timestamp_lidar = 0, last_timestamp_imu = -1.0; +double gyr_cov = 0.1, acc_cov = 0.1, b_gyr_cov = 0.0001, b_acc_cov = 0.0001; +double filter_size_corner_min = 0, filter_size_surf_min = 0, filter_size_map_min = 0, fov_deg = 0; +double cube_len = 0, HALF_FOV_COS = 0, FOV_DEG = 0, total_distance = 0, lidar_end_time = 0, first_lidar_time = 0.0; +int effct_feat_num = 0, time_log_counter = 0, scan_count = 0, publish_count = 0; +int iterCount = 0, feats_down_size = 0, NUM_MAX_ITERATIONS = 0, laserCloudValidNum = 0, pcd_save_interval = -1, pcd_index = 0; +bool point_selected_surf[100000] = {0}; +bool lidar_pushed, flg_first_scan = true, flg_exit = false, flg_EKF_inited; +bool scan_pub_en = false, dense_pub_en = false, scan_body_pub_en = false; +bool is_first_lidar = true; + +vector> pointSearchInd_surf; +vector cub_needrm; +vector Nearest_Points; +vector extrinT(3, 0.0); +vector extrinR(9, 0.0); +deque time_buffer; +deque lidar_buffer; +deque imu_buffer; + +PointCloudXYZI::Ptr featsFromMap(new PointCloudXYZI()); +PointCloudXYZI::Ptr feats_undistort(new PointCloudXYZI()); +PointCloudXYZI::Ptr feats_down_body(new PointCloudXYZI()); +PointCloudXYZI::Ptr feats_down_world(new PointCloudXYZI()); +PointCloudXYZI::Ptr normvec(new PointCloudXYZI(100000, 1)); +PointCloudXYZI::Ptr laserCloudOri(new PointCloudXYZI(100000, 1)); +PointCloudXYZI::Ptr corr_normvect(new PointCloudXYZI(100000, 1)); +PointCloudXYZI::Ptr _featsArray; + +pcl::VoxelGrid downSizeFilterSurf; +pcl::VoxelGrid downSizeFilterMap; + +KD_TREE ikdtree; + +V3F XAxisPoint_body(LIDAR_SP_LEN, 0.0, 0.0); +V3F XAxisPoint_world(LIDAR_SP_LEN, 0.0, 0.0); +V3D euler_cur; +V3D position_last(Zero3d); +V3D Lidar_T_wrt_IMU(Zero3d); +M3D Lidar_R_wrt_IMU(Eye3d); + +/*** EKF inputs and output ***/ +MeasureGroup Measures; +esekfom::esekf kf; +state_ikfom state_point; +vect3 pos_lid; + +nav_msgs::msg::Path path; +nav_msgs::msg::Odometry odomAftMapped; +geometry_msgs::msg::Quaternion geoQuat; +geometry_msgs::msg::PoseStamped msg_body_pose; + +shared_ptr p_pre(new Preprocess()); +shared_ptr p_imu(new ImuProcess()); + +void SigHandle(int sig) +{ + flg_exit = true; + std::cout << "catch sig %d" << sig << std::endl; + sig_buffer.notify_all(); + rclcpp::shutdown(); +} + +inline void dump_lio_state_to_log(FILE *fp) +{ + V3D rot_ang(Log(state_point.rot.toRotationMatrix())); + fprintf(fp, "%lf ", Measures.lidar_beg_time - first_lidar_time); + fprintf(fp, "%lf %lf %lf ", rot_ang(0), rot_ang(1), rot_ang(2)); // Angle + fprintf(fp, "%lf %lf %lf ", state_point.pos(0), state_point.pos(1), state_point.pos(2)); // Pos + fprintf(fp, "%lf %lf %lf ", 0.0, 0.0, 0.0); // omega + fprintf(fp, "%lf %lf %lf ", state_point.vel(0), state_point.vel(1), state_point.vel(2)); // Vel + fprintf(fp, "%lf %lf %lf ", 0.0, 0.0, 0.0); // Acc + fprintf(fp, "%lf %lf %lf ", state_point.bg(0), state_point.bg(1), state_point.bg(2)); // Bias_g + fprintf(fp, "%lf %lf %lf ", state_point.ba(0), state_point.ba(1), state_point.ba(2)); // Bias_a + fprintf(fp, "%lf %lf %lf ", state_point.grav[0], state_point.grav[1], state_point.grav[2]); // Bias_a + fprintf(fp, "\r\n"); + fflush(fp); +} + +void pointBodyToWorld_ikfom(PointType const * const pi, PointType * const po, state_ikfom &s) +{ + V3D p_body(pi->x, pi->y, pi->z); + V3D p_global(s.rot * (s.offset_R_L_I*p_body + s.offset_T_L_I) + s.pos); + + po->x = p_global(0); + po->y = p_global(1); + po->z = p_global(2); + po->intensity = pi->intensity; +} + + +void pointBodyToWorld(PointType const * const pi, PointType * const po) +{ + V3D p_body(pi->x, pi->y, pi->z); + V3D p_global(state_point.rot * (state_point.offset_R_L_I*p_body + state_point.offset_T_L_I) + state_point.pos); + + po->x = p_global(0); + po->y = p_global(1); + po->z = p_global(2); + po->intensity = pi->intensity; +} + +template +void pointBodyToWorld(const Matrix &pi, Matrix &po) +{ + V3D p_body(pi[0], pi[1], pi[2]); + V3D p_global(state_point.rot * (state_point.offset_R_L_I*p_body + state_point.offset_T_L_I) + state_point.pos); + + po[0] = p_global(0); + po[1] = p_global(1); + po[2] = p_global(2); +} + +void RGBpointBodyToWorld(PointType const * const pi, PointType * const po) +{ + V3D p_body(pi->x, pi->y, pi->z); + V3D p_global(state_point.rot * (state_point.offset_R_L_I*p_body + state_point.offset_T_L_I) + state_point.pos); + + po->x = p_global(0); + po->y = p_global(1); + po->z = p_global(2); + po->intensity = pi->intensity; +} + +void RGBpointBodyLidarToIMU(PointType const * const pi, PointType * const po) +{ + V3D p_body_lidar(pi->x, pi->y, pi->z); + V3D p_body_imu(state_point.offset_R_L_I*p_body_lidar + state_point.offset_T_L_I); + + po->x = p_body_imu(0); + po->y = p_body_imu(1); + po->z = p_body_imu(2); + po->intensity = pi->intensity; +} + +void points_cache_collect() +{ + PointVector points_history; + ikdtree.acquire_removed_points(points_history); + // for (int i = 0; i < points_history.size(); i++) _featsArray->push_back(points_history[i]); +} + +BoxPointType LocalMap_Points; +bool Localmap_Initialized = false; +void lasermap_fov_segment() +{ + cub_needrm.clear(); + kdtree_delete_counter = 0; + kdtree_delete_time = 0.0; + pointBodyToWorld(XAxisPoint_body, XAxisPoint_world); + V3D pos_LiD = pos_lid; + if (!Localmap_Initialized){ + for (int i = 0; i < 3; i++){ + LocalMap_Points.vertex_min[i] = pos_LiD(i) - cube_len / 2.0; + LocalMap_Points.vertex_max[i] = pos_LiD(i) + cube_len / 2.0; + } + Localmap_Initialized = true; + return; + } + float dist_to_map_edge[3][2]; + bool need_move = false; + for (int i = 0; i < 3; i++){ + dist_to_map_edge[i][0] = fabs(pos_LiD(i) - LocalMap_Points.vertex_min[i]); + dist_to_map_edge[i][1] = fabs(pos_LiD(i) - LocalMap_Points.vertex_max[i]); + if (dist_to_map_edge[i][0] <= MOV_THRESHOLD * DET_RANGE || dist_to_map_edge[i][1] <= MOV_THRESHOLD * DET_RANGE) need_move = true; + } + if (!need_move) return; + BoxPointType New_LocalMap_Points, tmp_boxpoints; + New_LocalMap_Points = LocalMap_Points; + float mov_dist = max((cube_len - 2.0 * MOV_THRESHOLD * DET_RANGE) * 0.5 * 0.9, double(DET_RANGE * (MOV_THRESHOLD -1))); + for (int i = 0; i < 3; i++){ + tmp_boxpoints = LocalMap_Points; + if (dist_to_map_edge[i][0] <= MOV_THRESHOLD * DET_RANGE){ + New_LocalMap_Points.vertex_max[i] -= mov_dist; + New_LocalMap_Points.vertex_min[i] -= mov_dist; + tmp_boxpoints.vertex_min[i] = LocalMap_Points.vertex_max[i] - mov_dist; + cub_needrm.push_back(tmp_boxpoints); + } else if (dist_to_map_edge[i][1] <= MOV_THRESHOLD * DET_RANGE){ + New_LocalMap_Points.vertex_max[i] += mov_dist; + New_LocalMap_Points.vertex_min[i] += mov_dist; + tmp_boxpoints.vertex_max[i] = LocalMap_Points.vertex_min[i] + mov_dist; + cub_needrm.push_back(tmp_boxpoints); + } + } + LocalMap_Points = New_LocalMap_Points; + + points_cache_collect(); + double delete_begin = omp_get_wtime(); + if(cub_needrm.size() > 0) kdtree_delete_counter = ikdtree.Delete_Point_Boxes(cub_needrm); + kdtree_delete_time = omp_get_wtime() - delete_begin; +} + +void standard_pcl_cbk(const sensor_msgs::msg::PointCloud2::UniquePtr msg) +{ + mtx_buffer.lock(); + scan_count ++; + double cur_time = get_time_sec(msg->header.stamp); + double preprocess_start_time = omp_get_wtime(); + if (!is_first_lidar && cur_time < last_timestamp_lidar) + { + std::cerr << "lidar loop back, clear buffer" << std::endl; + lidar_buffer.clear(); + } + if (is_first_lidar) + { + is_first_lidar = false; + } + + PointCloudXYZI::Ptr ptr(new PointCloudXYZI()); + p_pre->process(msg, ptr); + lidar_buffer.push_back(ptr); + time_buffer.push_back(cur_time); + last_timestamp_lidar = cur_time; + s_plot11[scan_count] = omp_get_wtime() - preprocess_start_time; + mtx_buffer.unlock(); + sig_buffer.notify_all(); +} + +double timediff_lidar_wrt_imu = 0.0; +bool timediff_set_flg = false; +void livox_pcl_cbk(const livox_ros_driver2::msg::CustomMsg::UniquePtr msg) +{ + mtx_buffer.lock(); + double cur_time = get_time_sec(msg->header.stamp); + double preprocess_start_time = omp_get_wtime(); + scan_count ++; + if (!is_first_lidar && cur_time < last_timestamp_lidar) + { + std::cerr << "lidar loop back, clear buffer" << std::endl; + lidar_buffer.clear(); + } + if(is_first_lidar) + { + is_first_lidar = false; + } + last_timestamp_lidar = cur_time; + + if (!time_sync_en && abs(last_timestamp_imu - last_timestamp_lidar) > 10.0 && !imu_buffer.empty() && !lidar_buffer.empty() ) + { + printf("IMU and LiDAR not Synced, IMU time: %lf, lidar header time: %lf \n",last_timestamp_imu, last_timestamp_lidar); + } + + if (time_sync_en && !timediff_set_flg && abs(last_timestamp_lidar - last_timestamp_imu) > 1 && !imu_buffer.empty()) + { + timediff_set_flg = true; + timediff_lidar_wrt_imu = last_timestamp_lidar + 0.1 - last_timestamp_imu; + printf("Self sync IMU and LiDAR, time diff is %.10lf \n", timediff_lidar_wrt_imu); + } + + PointCloudXYZI::Ptr ptr(new PointCloudXYZI()); + p_pre->process(msg, ptr); + lidar_buffer.push_back(ptr); + time_buffer.push_back(last_timestamp_lidar); + + s_plot11[scan_count] = omp_get_wtime() - preprocess_start_time; + mtx_buffer.unlock(); + sig_buffer.notify_all(); +} + +void imu_cbk(const sensor_msgs::msg::Imu::UniquePtr msg_in) +{ + publish_count ++; + // cout<<"IMU got at: "<header.stamp.toSec()<header.stamp = get_ros_time(get_time_sec(msg_in->header.stamp) - time_diff_lidar_to_imu); + if (abs(timediff_lidar_wrt_imu) > 0.1 && time_sync_en) + { + msg->header.stamp = \ + rclcpp::Time(timediff_lidar_wrt_imu + get_time_sec(msg_in->header.stamp)); + } + + double timestamp = get_time_sec(msg->header.stamp); + + mtx_buffer.lock(); + + if (timestamp < last_timestamp_imu) + { + std::cerr << "lidar loop back, clear buffer" << std::endl; + imu_buffer.clear(); + } + + last_timestamp_imu = timestamp; + + imu_buffer.push_back(msg); + mtx_buffer.unlock(); + sig_buffer.notify_all(); +} + +double lidar_mean_scantime = 0.0; +int scan_num = 0; +bool sync_packages(MeasureGroup &meas) +{ + if (lidar_buffer.empty() || imu_buffer.empty()) { + return false; + } + + /*** push a lidar scan ***/ + if(!lidar_pushed) + { + meas.lidar = lidar_buffer.front(); + meas.lidar_beg_time = time_buffer.front(); + if (meas.lidar->points.size() <= 1) // time too little + { + lidar_end_time = meas.lidar_beg_time + lidar_mean_scantime; + std::cerr << "Too few input point cloud!\n"; + } + else if (meas.lidar->points.back().curvature / double(1000) < 0.5 * lidar_mean_scantime) + { + lidar_end_time = meas.lidar_beg_time + lidar_mean_scantime; + } + else + { + scan_num ++; + lidar_end_time = meas.lidar_beg_time + meas.lidar->points.back().curvature / double(1000); + lidar_mean_scantime += (meas.lidar->points.back().curvature / double(1000) - lidar_mean_scantime) / scan_num; + } + + meas.lidar_end_time = lidar_end_time; + + lidar_pushed = true; + } + + if (last_timestamp_imu < lidar_end_time) + { + return false; + } + + /*** push imu data, and pop from imu buffer ***/ + double imu_time = get_time_sec(imu_buffer.front()->header.stamp); + meas.imu.clear(); + while ((!imu_buffer.empty()) && (imu_time < lidar_end_time)) + { + imu_time = get_time_sec(imu_buffer.front()->header.stamp); + if(imu_time > lidar_end_time) break; + meas.imu.push_back(imu_buffer.front()); + imu_buffer.pop_front(); + } + + lidar_buffer.pop_front(); + time_buffer.pop_front(); + lidar_pushed = false; + return true; +} + +int process_increments = 0; +void map_incremental() +{ + PointVector PointToAdd; + PointVector PointNoNeedDownsample; + PointToAdd.reserve(feats_down_size); + PointNoNeedDownsample.reserve(feats_down_size); + for (int i = 0; i < feats_down_size; i++) + { + /* transform to world frame */ + pointBodyToWorld(&(feats_down_body->points[i]), &(feats_down_world->points[i])); + /* decide if need add to map */ + if (!Nearest_Points[i].empty() && flg_EKF_inited) + { + const PointVector &points_near = Nearest_Points[i]; + bool need_add = true; + BoxPointType Box_of_Point; + PointType downsample_result, mid_point; + mid_point.x = floor(feats_down_world->points[i].x/filter_size_map_min)*filter_size_map_min + 0.5 * filter_size_map_min; + mid_point.y = floor(feats_down_world->points[i].y/filter_size_map_min)*filter_size_map_min + 0.5 * filter_size_map_min; + mid_point.z = floor(feats_down_world->points[i].z/filter_size_map_min)*filter_size_map_min + 0.5 * filter_size_map_min; + float dist = calc_dist(feats_down_world->points[i],mid_point); + if (fabs(points_near[0].x - mid_point.x) > 0.5 * filter_size_map_min && fabs(points_near[0].y - mid_point.y) > 0.5 * filter_size_map_min && fabs(points_near[0].z - mid_point.z) > 0.5 * filter_size_map_min){ + PointNoNeedDownsample.push_back(feats_down_world->points[i]); + continue; + } + for (int readd_i = 0; readd_i < NUM_MATCH_POINTS; readd_i ++) + { + if (points_near.size() < NUM_MATCH_POINTS) break; + if (calc_dist(points_near[readd_i], mid_point) < dist) + { + need_add = false; + break; + } + } + if (need_add) PointToAdd.push_back(feats_down_world->points[i]); + } + else + { + PointToAdd.push_back(feats_down_world->points[i]); + } + } + + double st_time = omp_get_wtime(); + add_point_size = ikdtree.Add_Points(PointToAdd, true); + ikdtree.Add_Points(PointNoNeedDownsample, false); + add_point_size = PointToAdd.size() + PointNoNeedDownsample.size(); + kdtree_incremental_time = omp_get_wtime() - st_time; +} + +PointCloudXYZI::Ptr pcl_wait_pub(new PointCloudXYZI()); +PointCloudXYZI::Ptr pcl_wait_save(new PointCloudXYZI()); +void publish_frame_world(rclcpp::Publisher::SharedPtr pubLaserCloudFull) +{ + if(scan_pub_en) + { + PointCloudXYZI::Ptr laserCloudFullRes(dense_pub_en ? feats_undistort : feats_down_body); + int size = laserCloudFullRes->points.size(); + PointCloudXYZI::Ptr laserCloudWorld( \ + new PointCloudXYZI(size, 1)); + + for (int i = 0; i < size; i++) + { + RGBpointBodyToWorld(&laserCloudFullRes->points[i], \ + &laserCloudWorld->points[i]); + } + + sensor_msgs::msg::PointCloud2 laserCloudmsg; + pcl::toROSMsg(*laserCloudWorld, laserCloudmsg); + // laserCloudmsg.header.stamp = ros::Time().fromSec(lidar_end_time); + laserCloudmsg.header.stamp = get_ros_time(lidar_end_time); + laserCloudmsg.header.frame_id = "lidar_odom"; + pubLaserCloudFull->publish(laserCloudmsg); + publish_count -= PUBFRAME_PERIOD; + } + + /**************** save map ****************/ + /* 1. make sure you have enough memories + /* 2. noted that pcd save will influence the real-time performences **/ + /* + if (pcd_save_en) + { + int size = feats_undistort->points.size(); + PointCloudXYZI::Ptr laserCloudWorld( \ + new PointCloudXYZI(size, 1)); + + for (int i = 0; i < size; i++) + { + RGBpointBodyToWorld(&feats_undistort->points[i], \ + &laserCloudWorld->points[i]); + } + *pcl_wait_save += *laserCloudWorld; + + static int scan_wait_num = 0; + scan_wait_num ++; + if (pcl_wait_save->size() > 0 && pcd_save_interval > 0 && scan_wait_num >= pcd_save_interval) + { + pcd_index ++; + string all_points_dir(string(string(ROOT_DIR) + "PCD/scans_") + to_string(pcd_index) + string(".pcd")); + pcl::PCDWriter pcd_writer; + cout << "current scan saved to /PCD/" << all_points_dir << endl; + pcd_writer.writeBinary(all_points_dir, *pcl_wait_save); + pcl_wait_save->clear(); + scan_wait_num = 0; + } + } + */ +} + +void publish_frame_body(rclcpp::Publisher::SharedPtr pubLaserCloudFull_body) +{ + int size = feats_undistort->points.size(); + PointCloudXYZI::Ptr laserCloudIMUBody(new PointCloudXYZI(size, 1)); + + for (int i = 0; i < size; i++) + { + RGBpointBodyLidarToIMU(&feats_undistort->points[i], \ + &laserCloudIMUBody->points[i]); + } + + sensor_msgs::msg::PointCloud2 laserCloudmsg; + pcl::toROSMsg(*laserCloudIMUBody, laserCloudmsg); + laserCloudmsg.header.stamp = get_ros_time(lidar_end_time); + laserCloudmsg.header.frame_id = "livox_frame"; + pubLaserCloudFull_body->publish(laserCloudmsg); + publish_count -= PUBFRAME_PERIOD; +} + +void publish_effect_world(rclcpp::Publisher::SharedPtr pubLaserCloudEffect) +{ + PointCloudXYZI::Ptr laserCloudWorld( \ + new PointCloudXYZI(effct_feat_num, 1)); + for (int i = 0; i < effct_feat_num; i++) + { + RGBpointBodyToWorld(&laserCloudOri->points[i], \ + &laserCloudWorld->points[i]); + } + sensor_msgs::msg::PointCloud2 laserCloudFullRes3; + pcl::toROSMsg(*laserCloudWorld, laserCloudFullRes3); + laserCloudFullRes3.header.stamp = get_ros_time(lidar_end_time); + laserCloudFullRes3.header.frame_id = "lidar_odom"; + pubLaserCloudEffect->publish(laserCloudFullRes3); +} + +void publish_map(rclcpp::Publisher::SharedPtr pubLaserCloudMap) +{ + PointCloudXYZI::Ptr laserCloudFullRes(dense_pub_en ? feats_undistort : feats_down_body); + int size = laserCloudFullRes->points.size(); + PointCloudXYZI::Ptr laserCloudWorld( \ + new PointCloudXYZI(size, 1)); + + for (int i = 0; i < size; i++) + { + RGBpointBodyToWorld(&laserCloudFullRes->points[i], \ + &laserCloudWorld->points[i]); + } + *pcl_wait_pub += *laserCloudWorld; + + sensor_msgs::msg::PointCloud2 laserCloudmsg; + pcl::toROSMsg(*pcl_wait_pub, laserCloudmsg); + laserCloudmsg.header.stamp = get_ros_time(lidar_end_time); + laserCloudmsg.header.frame_id = "lidar_odom"; + pubLaserCloudMap->publish(laserCloudmsg); +} + +void save_to_pcd() +{ + pcl::PCDWriter pcd_writer; + pcd_writer.writeBinary(map_file_path, *pcl_wait_pub); +} + +template +void set_posestamp(T & out) +{ + out.pose.position.x = state_point.pos(0); + out.pose.position.y = state_point.pos(1); + out.pose.position.z = state_point.pos(2); + out.pose.orientation.x = geoQuat.x; + out.pose.orientation.y = geoQuat.y; + out.pose.orientation.z = geoQuat.z; + out.pose.orientation.w = geoQuat.w; + +} + +void publish_odometry(const rclcpp::Publisher::SharedPtr pubOdomAftMapped, + std::unique_ptr & tf_br, + std::unique_ptr & tf_buffer_, + rclcpp::Logger logger_) +{ + odomAftMapped.header.frame_id = "lidar_odom"; + odomAftMapped.child_frame_id = "livox_frame"; + odomAftMapped.header.stamp = get_ros_time(lidar_end_time); + set_posestamp(odomAftMapped.pose); + pubOdomAftMapped->publish(odomAftMapped); + auto P = kf.get_P(); + for (int i = 0; i < 6; i ++) + { + int k = i < 3 ? i + 3 : i - 3; + odomAftMapped.pose.covariance[i*6 + 0] = P(k, 3); + odomAftMapped.pose.covariance[i*6 + 1] = P(k, 4); + odomAftMapped.pose.covariance[i*6 + 2] = P(k, 5); + odomAftMapped.pose.covariance[i*6 + 3] = P(k, 0); + odomAftMapped.pose.covariance[i*6 + 4] = P(k, 1); + odomAftMapped.pose.covariance[i*6 + 5] = P(k, 2); + } + + // Publish tf from lidar_odom to base_link + static geometry_msgs::msg::TransformStamped livox_to_base_link_transform; + static bool transform_acquired = false; // Check if the transform has already been acquired + if (!transform_acquired) { + // Get the transform from base_link to livox_frame + try { + livox_to_base_link_transform = tf_buffer_->lookupTransform("livox_frame", "base_link", odomAftMapped.header.stamp); + transform_acquired = true; // Set the flag to true indicating that the transform has been acquired + } catch (tf2::TransformException &ex) { + RCLCPP_ERROR(logger_, "Failed to lookup transform from base_link to livox_frame: %s", ex.what()); + return; + } + } + + // Create a TransformStamped message for lidar_odom to base_link + geometry_msgs::msg::TransformStamped transform_stamped; + transform_stamped.header.stamp = odomAftMapped.header.stamp; + transform_stamped.header.frame_id = "lidar_odom"; // Source frame + transform_stamped.child_frame_id = "base_link"; // Target frame + + // Calculate the transform from lidar_odom to base_link by multiplying the transforms + tf2::Transform tf_lidar_odom_to_livox_frame; + tf2::fromMsg(odomAftMapped.pose.pose, tf_lidar_odom_to_livox_frame); + tf2::Transform tf_livox_frame_to_base_link; + tf2::fromMsg(livox_to_base_link_transform.transform, tf_livox_frame_to_base_link); + tf2::Transform tf_lidar_odom_to_base_link = + tf_lidar_odom_to_livox_frame * tf_livox_frame_to_base_link; + + // Convert the resulting transform back to geometry_msgs::TransformStamped + transform_stamped.transform = tf2::toMsg(tf_lidar_odom_to_base_link); + + // Publish the tf + tf_br->sendTransform(transform_stamped); +} + +void publish_path(rclcpp::Publisher::SharedPtr pubPath) +{ + set_posestamp(msg_body_pose); + msg_body_pose.header.stamp = get_ros_time(lidar_end_time); // ros::Time().fromSec(lidar_end_time); + msg_body_pose.header.frame_id = "lidar_odom"; + + /*** if path is too large, the rvis will crash ***/ + // static int jjj = 0; + // jjj++; + // if (jjj % 10 == 0) + { + path.poses.push_back(msg_body_pose); + pubPath->publish(path); + } +} + +void h_share_model(state_ikfom &s, esekfom::dyn_share_datastruct &ekfom_data) +{ + double match_start = omp_get_wtime(); + laserCloudOri->clear(); + corr_normvect->clear(); + total_residual = 0.0; + + /** closest surface search and residual computation **/ + #ifdef MP_EN + omp_set_num_threads(MP_PROC_NUM); + #pragma omp parallel for + #endif + for (int i = 0; i < feats_down_size; i++) + { + PointType &point_body = feats_down_body->points[i]; + PointType &point_world = feats_down_world->points[i]; + + /* transform to world frame */ + V3D p_body(point_body.x, point_body.y, point_body.z); + V3D p_global(s.rot * (s.offset_R_L_I*p_body + s.offset_T_L_I) + s.pos); + point_world.x = p_global(0); + point_world.y = p_global(1); + point_world.z = p_global(2); + point_world.intensity = point_body.intensity; + + vector pointSearchSqDis(NUM_MATCH_POINTS); + + auto &points_near = Nearest_Points[i]; + + if (ekfom_data.converge) + { + /** Find the closest surfaces in the map **/ + ikdtree.Nearest_Search(point_world, NUM_MATCH_POINTS, points_near, pointSearchSqDis); + point_selected_surf[i] = points_near.size() < NUM_MATCH_POINTS ? false : pointSearchSqDis[NUM_MATCH_POINTS - 1] > 5 ? false : true; + } + + if (!point_selected_surf[i]) continue; + + VF(4) pabcd; + point_selected_surf[i] = false; + if (esti_plane(pabcd, points_near, 0.1f)) + { + float pd2 = pabcd(0) * point_world.x + pabcd(1) * point_world.y + pabcd(2) * point_world.z + pabcd(3); + float s = 1 - 0.9 * fabs(pd2) / sqrt(p_body.norm()); + + if (s > 0.9) + { + point_selected_surf[i] = true; + normvec->points[i].x = pabcd(0); + normvec->points[i].y = pabcd(1); + normvec->points[i].z = pabcd(2); + normvec->points[i].intensity = pd2; + res_last[i] = abs(pd2); + } + } + } + + effct_feat_num = 0; + + for (int i = 0; i < feats_down_size; i++) + { + if (point_selected_surf[i]) + { + laserCloudOri->points[effct_feat_num] = feats_down_body->points[i]; + corr_normvect->points[effct_feat_num] = normvec->points[i]; + total_residual += res_last[i]; + effct_feat_num ++; + } + } + + if (effct_feat_num < 1) + { + ekfom_data.valid = false; + std::cerr << "No Effective Points!" << std::endl; + // ROS_WARN("No Effective Points! \n"); + return; + } + + res_mean_last = total_residual / effct_feat_num; + match_time += omp_get_wtime() - match_start; + double solve_start_ = omp_get_wtime(); + + /*** Computation of Measuremnt Jacobian matrix H and measurents vector ***/ + ekfom_data.h_x = MatrixXd::Zero(effct_feat_num, 12); //23 + ekfom_data.h.resize(effct_feat_num); + + for (int i = 0; i < effct_feat_num; i++) + { + const PointType &laser_p = laserCloudOri->points[i]; + V3D point_this_be(laser_p.x, laser_p.y, laser_p.z); + M3D point_be_crossmat; + point_be_crossmat << SKEW_SYM_MATRX(point_this_be); + V3D point_this = s.offset_R_L_I * point_this_be + s.offset_T_L_I; + M3D point_crossmat; + point_crossmat<points[i]; + V3D norm_vec(norm_p.x, norm_p.y, norm_p.z); + + /*** calculate the Measuremnt Jacobian matrix H ***/ + V3D C(s.rot.conjugate() *norm_vec); + V3D A(point_crossmat * C); + if (extrinsic_est_en) + { + V3D B(point_be_crossmat * s.offset_R_L_I.conjugate() * C); //s.rot.conjugate()*norm_vec); + ekfom_data.h_x.block<1, 12>(i,0) << norm_p.x, norm_p.y, norm_p.z, VEC_FROM_ARRAY(A), VEC_FROM_ARRAY(B), VEC_FROM_ARRAY(C); + } + else + { + ekfom_data.h_x.block<1, 12>(i,0) << norm_p.x, norm_p.y, norm_p.z, VEC_FROM_ARRAY(A), 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; + } + + /*** Measuremnt: distance to the closest surface/corner ***/ + ekfom_data.h(i) = -norm_p.intensity; + } + solve_time += omp_get_wtime() - solve_start_; +} + +class LaserMappingNode : public rclcpp::Node +{ +public: + LaserMappingNode(const rclcpp::NodeOptions& options = rclcpp::NodeOptions()) : Node("laser_mapping", options) + { + this->declare_parameter("publish.path_en", true); + this->declare_parameter("publish.effect_map_en", false); + this->declare_parameter("publish.map_en", false); + this->declare_parameter("publish.scan_publish_en", true); + this->declare_parameter("publish.dense_publish_en", true); + this->declare_parameter("publish.scan_bodyframe_pub_en", true); + this->declare_parameter("max_iteration", 4); + this->declare_parameter("map_file_path", ""); + this->declare_parameter("common.lid_topic", "/livox/lidar"); + this->declare_parameter("common.imu_topic", "/livox/imu"); + this->declare_parameter("common.time_sync_en", false); + this->declare_parameter("common.time_offset_lidar_to_imu", 0.0); + this->declare_parameter("filter_size_corner", 0.5); + this->declare_parameter("filter_size_surf", 0.5); + this->declare_parameter("filter_size_map", 0.5); + this->declare_parameter("cube_side_length", 200.); + this->declare_parameter("mapping.det_range", 300.); + this->declare_parameter("mapping.fov_degree", 180.); + this->declare_parameter("mapping.gyr_cov", 0.1); + this->declare_parameter("mapping.acc_cov", 0.1); + this->declare_parameter("mapping.b_gyr_cov", 0.0001); + this->declare_parameter("mapping.b_acc_cov", 0.0001); + this->declare_parameter("preprocess.blind", 0.01); + this->declare_parameter("preprocess.lidar_type", AVIA); + this->declare_parameter("preprocess.scan_line", 16); + this->declare_parameter("preprocess.timestamp_unit", US); + this->declare_parameter("preprocess.scan_rate", 10); + this->declare_parameter("point_filter_num", 2); + this->declare_parameter("feature_extract_enable", false); + this->declare_parameter("runtime_pos_log_enable", false); + this->declare_parameter("mapping.extrinsic_est_en", true); + this->declare_parameter("pcd_save.pcd_save_en", false); + this->declare_parameter("pcd_save.interval", -1); + this->declare_parameter>("mapping.extrinsic_T", vector()); + this->declare_parameter>("mapping.extrinsic_R", vector()); + + this->get_parameter_or("publish.path_en", path_en, true); + this->get_parameter_or("publish.effect_map_en", effect_pub_en, false); + this->get_parameter_or("publish.map_en", map_pub_en, false); + this->get_parameter_or("publish.scan_publish_en", scan_pub_en, true); + this->get_parameter_or("publish.dense_publish_en", dense_pub_en, true); + this->get_parameter_or("publish.scan_bodyframe_pub_en", scan_body_pub_en, true); + this->get_parameter_or("max_iteration", NUM_MAX_ITERATIONS, 4); + this->get_parameter_or("map_file_path", map_file_path, ""); + this->get_parameter_or("common.lid_topic", lid_topic, "/livox/lidar"); + this->get_parameter_or("common.imu_topic", imu_topic,"/livox/imu"); + this->get_parameter_or("common.time_sync_en", time_sync_en, false); + this->get_parameter_or("common.time_offset_lidar_to_imu", time_diff_lidar_to_imu, 0.0); + this->get_parameter_or("filter_size_corner",filter_size_corner_min,0.5); + this->get_parameter_or("filter_size_surf",filter_size_surf_min,0.5); + this->get_parameter_or("filter_size_map",filter_size_map_min,0.5); + this->get_parameter_or("cube_side_length",cube_len,200.f); + this->get_parameter_or("mapping.det_range",DET_RANGE,300.f); + this->get_parameter_or("mapping.fov_degree",fov_deg,180.f); + this->get_parameter_or("mapping.gyr_cov",gyr_cov,0.1); + this->get_parameter_or("mapping.acc_cov",acc_cov,0.1); + this->get_parameter_or("mapping.b_gyr_cov",b_gyr_cov,0.0001); + this->get_parameter_or("mapping.b_acc_cov",b_acc_cov,0.0001); + this->get_parameter_or("preprocess.blind", p_pre->blind, 0.01); + this->get_parameter_or("preprocess.lidar_type", p_pre->lidar_type, AVIA); + this->get_parameter_or("preprocess.scan_line", p_pre->N_SCANS, 16); + this->get_parameter_or("preprocess.timestamp_unit", p_pre->time_unit, US); + this->get_parameter_or("preprocess.scan_rate", p_pre->SCAN_RATE, 10); + this->get_parameter_or("point_filter_num", p_pre->point_filter_num, 2); + this->get_parameter_or("feature_extract_enable", p_pre->feature_enabled, false); + this->get_parameter_or("runtime_pos_log_enable", runtime_pos_log, 0); + this->get_parameter_or("mapping.extrinsic_est_en", extrinsic_est_en, true); + this->get_parameter_or("pcd_save.pcd_save_en", pcd_save_en, false); + this->get_parameter_or("pcd_save.interval", pcd_save_interval, -1); + this->get_parameter_or>("mapping.extrinsic_T", extrinT, vector()); + this->get_parameter_or>("mapping.extrinsic_R", extrinR, vector()); + + RCLCPP_INFO(this->get_logger(), "p_pre->lidar_type %d", p_pre->lidar_type); + + path.header.stamp = this->get_clock()->now(); + path.header.frame_id ="lidar_odom"; + + // /*** variables definition ***/ + // int effect_feat_num = 0, frame_num = 0; + // double deltaT, deltaR, aver_time_consu = 0, aver_time_icp = 0, aver_time_match = 0, aver_time_incre = 0, aver_time_solve = 0, aver_time_const_H_time = 0; + // bool flg_EKF_converged, EKF_stop_flg = 0; + + FOV_DEG = (fov_deg + 10.0) > 179.9 ? 179.9 : (fov_deg + 10.0); + HALF_FOV_COS = cos((FOV_DEG) * 0.5 * PI_M / 180.0); + + _featsArray.reset(new PointCloudXYZI()); + + memset(point_selected_surf, true, sizeof(point_selected_surf)); + memset(res_last, -1000.0f, sizeof(res_last)); + downSizeFilterSurf.setLeafSize(filter_size_surf_min, filter_size_surf_min, filter_size_surf_min); + downSizeFilterMap.setLeafSize(filter_size_map_min, filter_size_map_min, filter_size_map_min); + memset(point_selected_surf, true, sizeof(point_selected_surf)); + memset(res_last, -1000.0f, sizeof(res_last)); + + Lidar_T_wrt_IMU<set_extrinsic(Lidar_T_wrt_IMU, Lidar_R_wrt_IMU); + p_imu->set_gyr_cov(V3D(gyr_cov, gyr_cov, gyr_cov)); + p_imu->set_acc_cov(V3D(acc_cov, acc_cov, acc_cov)); + p_imu->set_gyr_bias_cov(V3D(b_gyr_cov, b_gyr_cov, b_gyr_cov)); + p_imu->set_acc_bias_cov(V3D(b_acc_cov, b_acc_cov, b_acc_cov)); + + fill(epsi, epsi+23, 0.001); + kf.init_dyn_share(get_f, df_dx, df_dw, h_share_model, NUM_MAX_ITERATIONS, epsi); + + /*** debug record ***/ + // FILE *fp; + string pos_log_dir = root_dir + "/Log/pos_log.txt"; + fp = fopen(pos_log_dir.c_str(),"w"); + + // ofstream fout_pre, fout_out, fout_dbg; + fout_pre.open(DEBUG_FILE_DIR("mat_pre.txt"),ios::out); + fout_out.open(DEBUG_FILE_DIR("mat_out.txt"),ios::out); + fout_dbg.open(DEBUG_FILE_DIR("dbg.txt"),ios::out); + if (fout_pre && fout_out) + cout << "~~~~"<lidar_type == AVIA) + { + sub_pcl_livox_ = this->create_subscription(lid_topic, 20, livox_pcl_cbk); + } + else + { + sub_pcl_pc_ = this->create_subscription(lid_topic, rclcpp::SensorDataQoS(), standard_pcl_cbk); + } + sub_imu_ = this->create_subscription(imu_topic, 10, imu_cbk); + pubLaserCloudFull_ = this->create_publisher("/cloud_registered", 20); + pubLaserCloudFull_body_ = this->create_publisher("/cloud_registered_body", 20); + pubLaserCloudEffect_ = this->create_publisher("/cloud_effected", 20); + pubLaserCloudMap_ = this->create_publisher("/Laser_map", 20); + pubOdomAftMapped_ = this->create_publisher("/Odometry", 20); + pubPath_ = this->create_publisher("/path", 20); + + tf_buffer_ = std::make_unique(this->get_clock()); + tf_broadcaster_ = std::make_unique(*this); + transform_listener_ = std::make_shared(*tf_buffer_); + //------------------------------------------------------------------------------------------------------ + auto period_ms = std::chrono::milliseconds(static_cast(1000.0 / 100.0)); + timer_ = rclcpp::create_timer(this, this->get_clock(), period_ms, std::bind(&LaserMappingNode::timer_callback, this)); + + auto map_period_ms = std::chrono::milliseconds(static_cast(1000.0)); + map_pub_timer_ = rclcpp::create_timer(this, this->get_clock(), map_period_ms, std::bind(&LaserMappingNode::map_publish_callback, this)); + + map_save_srv_ = this->create_service("map_save", std::bind(&LaserMappingNode::map_save_callback, this, std::placeholders::_1, std::placeholders::_2)); + + RCLCPP_INFO(this->get_logger(), "Node init finished."); + } + + ~LaserMappingNode() + { + fout_out.close(); + fout_pre.close(); + fclose(fp); + } + +private: + void timer_callback() + { + if(sync_packages(Measures)) + { + if (flg_first_scan) + { + first_lidar_time = Measures.lidar_beg_time; + p_imu->first_lidar_time = first_lidar_time; + flg_first_scan = false; + return; + } + + double t0,t1,t2,t3,t4,t5,match_start, solve_start, svd_time; + + match_time = 0; + kdtree_search_time = 0.0; + solve_time = 0; + solve_const_H_time = 0; + svd_time = 0; + t0 = omp_get_wtime(); + + p_imu->Process(Measures, kf, feats_undistort); + state_point = kf.get_x(); + pos_lid = state_point.pos + state_point.rot * state_point.offset_T_L_I; + + if (feats_undistort->empty() || (feats_undistort == NULL)) + { + RCLCPP_WARN(this->get_logger(), "No point, skip this scan!\n"); + return; + } + + flg_EKF_inited = (Measures.lidar_beg_time - first_lidar_time) < INIT_TIME ? \ + false : true; + /*** Segment the map in lidar FOV ***/ + lasermap_fov_segment(); + + /*** downsample the feature points in a scan ***/ + downSizeFilterSurf.setInputCloud(feats_undistort); + downSizeFilterSurf.filter(*feats_down_body); + t1 = omp_get_wtime(); + feats_down_size = feats_down_body->points.size(); + /*** initialize the map kdtree ***/ + if(ikdtree.Root_Node == nullptr) + { + RCLCPP_INFO(this->get_logger(), "Initialize the map kdtree"); + if(feats_down_size > 5) + { + ikdtree.set_downsample_param(filter_size_map_min); + feats_down_world->resize(feats_down_size); + for(int i = 0; i < feats_down_size; i++) + { + pointBodyToWorld(&(feats_down_body->points[i]), &(feats_down_world->points[i])); + } + ikdtree.Build(feats_down_world->points); + } + return; + } + int featsFromMapNum = ikdtree.validnum(); + kdtree_size_st = ikdtree.size(); + + // cout<<"[ mapping ]: In num: "<points.size()<<" downsamp "<get_logger(), "No point, skip this scan!\n"); + return; + } + + normvec->resize(feats_down_size); + feats_down_world->resize(feats_down_size); + + V3D ext_euler = SO3ToEuler(state_point.offset_R_L_I); + fout_pre<clear(); + featsFromMap->points = ikdtree.PCL_Storage; + } + + pointSearchInd_surf.resize(feats_down_size); + Nearest_Points.resize(feats_down_size); + int rematch_num = 0; + bool nearest_search_en = true; // + + t2 = omp_get_wtime(); + + /*** iterated state estimation ***/ + double t_update_start = omp_get_wtime(); + double solve_H_time = 0; + kf.update_iterated_dyn_share_modified(LASER_POINT_COV, solve_H_time); + state_point = kf.get_x(); + euler_cur = SO3ToEuler(state_point.rot); + pos_lid = state_point.pos + state_point.rot * state_point.offset_T_L_I; + geoQuat.x = state_point.rot.coeffs()[0]; + geoQuat.y = state_point.rot.coeffs()[1]; + geoQuat.z = state_point.rot.coeffs()[2]; + geoQuat.w = state_point.rot.coeffs()[3]; + + double t_update_end = omp_get_wtime(); + + /******* Publish odometry *******/ + publish_odometry(pubOdomAftMapped_, tf_broadcaster_, tf_buffer_, this->get_logger()); + /*** add the feature points to map kdtree ***/ + t3 = omp_get_wtime(); + map_incremental(); + t5 = omp_get_wtime(); + + /******* Publish points *******/ + if (path_en) publish_path(pubPath_); + if (scan_pub_en) publish_frame_world(pubLaserCloudFull_); + if (scan_pub_en && scan_body_pub_en) publish_frame_body(pubLaserCloudFull_body_); + if (effect_pub_en) publish_effect_world(pubLaserCloudEffect_); + // if (map_pub_en) publish_map(pubLaserCloudMap_); + + /*** Debug variables ***/ + if (runtime_pos_log) + { + frame_num ++; + kdtree_size_end = ikdtree.size(); + aver_time_consu = aver_time_consu * (frame_num - 1) / frame_num + (t5 - t0) / frame_num; + aver_time_icp = aver_time_icp * (frame_num - 1)/frame_num + (t_update_end - t_update_start) / frame_num; + aver_time_match = aver_time_match * (frame_num - 1)/frame_num + (match_time)/frame_num; + aver_time_incre = aver_time_incre * (frame_num - 1)/frame_num + (kdtree_incremental_time)/frame_num; + aver_time_solve = aver_time_solve * (frame_num - 1)/frame_num + (solve_time + solve_H_time)/frame_num; + aver_time_const_H_time = aver_time_const_H_time * (frame_num - 1)/frame_num + solve_time / frame_num; + T1[time_log_counter] = Measures.lidar_beg_time; + s_plot[time_log_counter] = t5 - t0; + s_plot2[time_log_counter] = feats_undistort->points.size(); + s_plot3[time_log_counter] = kdtree_incremental_time; + s_plot4[time_log_counter] = kdtree_search_time; + s_plot5[time_log_counter] = kdtree_delete_counter; + s_plot6[time_log_counter] = kdtree_delete_time; + s_plot7[time_log_counter] = kdtree_size_st; + s_plot8[time_log_counter] = kdtree_size_end; + s_plot9[time_log_counter] = aver_time_consu; + s_plot10[time_log_counter] = add_point_size; + time_log_counter ++; + printf("[ mapping ]: time: IMU + Map + Input Downsample: %0.6f ave match: %0.6f ave solve: %0.6f ave ICP: %0.6f map incre: %0.6f ave total: %0.6f icp: %0.6f construct H: %0.6f \n",t1-t0,aver_time_match,aver_time_solve,t3-t1,t5-t3,aver_time_consu,aver_time_icp, aver_time_const_H_time); + ext_euler = SO3ToEuler(state_point.offset_R_L_I); + fout_out << setw(20) << Measures.lidar_beg_time - first_lidar_time << " " << euler_cur.transpose() << " " << state_point.pos.transpose()<< " " << ext_euler.transpose() << " "<points.size()<get_logger(), "Saving map to %s...", map_file_path.c_str()); + if (pcd_save_en) + { + save_to_pcd(); + res->success = true; + res->message = "Map saved."; + } + else + { + res->success = false; + res->message = "Map save disabled."; + } + } + +private: + rclcpp::Publisher::SharedPtr pubLaserCloudFull_; + rclcpp::Publisher::SharedPtr pubLaserCloudFull_body_; + rclcpp::Publisher::SharedPtr pubLaserCloudEffect_; + rclcpp::Publisher::SharedPtr pubLaserCloudMap_; + rclcpp::Publisher::SharedPtr pubOdomAftMapped_; + rclcpp::Publisher::SharedPtr pubPath_; + rclcpp::Subscription::SharedPtr sub_imu_; + rclcpp::Subscription::SharedPtr sub_pcl_pc_; + rclcpp::Subscription::SharedPtr sub_pcl_livox_; + + std::unique_ptr tf_buffer_; + std::unique_ptr tf_broadcaster_; + std::shared_ptr transform_listener_; + rclcpp::TimerBase::SharedPtr timer_; + rclcpp::TimerBase::SharedPtr map_pub_timer_; + rclcpp::Service::SharedPtr map_save_srv_; + + bool effect_pub_en = false, map_pub_en = false; + int effect_feat_num = 0, frame_num = 0; + double deltaT, deltaR, aver_time_consu = 0, aver_time_icp = 0, aver_time_match = 0, aver_time_incre = 0, aver_time_solve = 0, aver_time_const_H_time = 0; + bool flg_EKF_converged, EKF_stop_flg = 0; + double epsi[23] = {0.001}; + + FILE *fp; + ofstream fout_pre, fout_out, fout_dbg; +}; + +int main(int argc, char** argv) +{ + rclcpp::init(argc, argv); + + signal(SIGINT, SigHandle); + + rclcpp::spin(std::make_shared()); + + if (rclcpp::ok()) + rclcpp::shutdown(); + /**************** save map ****************/ + /* 1. make sure you have enough memories + /* 2. pcd save will largely influence the real-time performences **/ + if (pcl_wait_save->size() > 0 && pcd_save_en) + { + string file_name = string("scans.pcd"); + string all_points_dir(string(string(ROOT_DIR) + "PCD/") + file_name); + pcl::PCDWriter pcd_writer; + cout << "current scan saved to /PCD/" << file_name< t, s_vec, s_vec2, s_vec3, s_vec4, s_vec5, s_vec6, s_vec7; + FILE *fp2; + string log_dir = root_dir + "/Log/fast_lio_time_log.csv"; + fp2 = fopen(log_dir.c_str(),"w"); + fprintf(fp2,"time_stamp, total time, scan point size, incremental time, search time, delete size, delete time, tree size st, tree size end, add point size, preprocess time\n"); + for (int i = 0;i + +#define RETURN0 0x00 +#define RETURN0AND1 0x10 + +Preprocess::Preprocess() : feature_enabled(0), lidar_type(AVIA), blind(0.01), point_filter_num(1) +{ + inf_bound = 10; + N_SCANS = 6; + SCAN_RATE = 10; + group_size = 8; + disA = 0.01; + disA = 0.1; // B? + p2l_ratio = 225; + limit_maxmid = 6.25; + limit_midmin = 6.25; + limit_maxmin = 3.24; + jump_up_limit = 170.0; + jump_down_limit = 8.0; + cos160 = 160.0; + edgea = 2; + edgeb = 0.1; + smallp_intersect = 172.5; + smallp_ratio = 1.2; + given_offset_time = false; + + jump_up_limit = cos(jump_up_limit / 180 * M_PI); + jump_down_limit = cos(jump_down_limit / 180 * M_PI); + cos160 = cos(cos160 / 180 * M_PI); + smallp_intersect = cos(smallp_intersect / 180 * M_PI); +} + +Preprocess::~Preprocess() +{ +} + +void Preprocess::set(bool feat_en, int lid_type, double bld, int pfilt_num) +{ + feature_enabled = feat_en; + lidar_type = lid_type; + blind = bld; + point_filter_num = pfilt_num; +} + +void Preprocess::process(const livox_ros_driver2::msg::CustomMsg::UniquePtr &msg, PointCloudXYZI::Ptr& pcl_out) +{ + avia_handler(msg); + *pcl_out = pl_surf; +} + +void Preprocess::process(const sensor_msgs::msg::PointCloud2::UniquePtr &msg, PointCloudXYZI::Ptr& pcl_out) +{ + switch (time_unit) + { + case SEC: + time_unit_scale = 1.e3f; + break; + case MS: + time_unit_scale = 1.f; + break; + case US: + time_unit_scale = 1.e-3f; + break; + case NS: + time_unit_scale = 1.e-6f; + break; + default: + time_unit_scale = 1.f; + break; + } + + switch (lidar_type) + { + case OUST64: + oust64_handler(msg); + break; + + case VELO16: + velodyne_handler(msg); + break; + + case MID360: + mid360_handler(msg); + break; + + default: + default_handler(msg); + break; + } + *pcl_out = pl_surf; +} + +void Preprocess::avia_handler(const livox_ros_driver2::msg::CustomMsg::UniquePtr &msg) +{ + pl_surf.clear(); + pl_corn.clear(); + pl_full.clear(); + double t1 = omp_get_wtime(); + int plsize = msg->point_num; + // cout<<"plsie: "<points[i].line < N_SCANS) && + ((msg->points[i].tag & 0x30) == 0x10 || (msg->points[i].tag & 0x30) == 0x00)) + { + pl_full[i].x = msg->points[i].x; + pl_full[i].y = msg->points[i].y; + pl_full[i].z = msg->points[i].z; + pl_full[i].intensity = msg->points[i].reflectivity; + pl_full[i].curvature = + msg->points[i].offset_time / float(1000000); // use curvature as time of each laser points + + bool is_new = false; + if ((abs(pl_full[i].x - pl_full[i - 1].x) > 1e-7) || (abs(pl_full[i].y - pl_full[i - 1].y) > 1e-7) || + (abs(pl_full[i].z - pl_full[i - 1].z) > 1e-7)) + { + pl_buff[msg->points[i].line].push_back(pl_full[i]); + } + } + } + static int count = 0; + static double time = 0.0; + count++; + double t0 = omp_get_wtime(); + for (int j = 0; j < N_SCANS; j++) + { + if (pl_buff[j].size() <= 5) + continue; + pcl::PointCloud& pl = pl_buff[j]; + plsize = pl.size(); + vector& types = typess[j]; + types.clear(); + types.resize(plsize); + plsize--; + for (uint i = 0; i < plsize; i++) + { + types[i].range = sqrt(pl[i].x * pl[i].x + pl[i].y * pl[i].y); + vx = pl[i].x - pl[i + 1].x; + vy = pl[i].y - pl[i + 1].y; + vz = pl[i].z - pl[i + 1].z; + types[i].dista = sqrt(vx * vx + vy * vy + vz * vz); + } + types[plsize].range = sqrt(pl[plsize].x * pl[plsize].x + pl[plsize].y * pl[plsize].y); + give_feature(pl, types); + // pl_surf += pl; + } + time += omp_get_wtime() - t0; + printf("Feature extraction time: %lf \n", time / count); + } + else + { + for (uint i = 1; i < plsize; i++) + { + if ((msg->points[i].line < N_SCANS) && + ((msg->points[i].tag & 0x30) == 0x10 || (msg->points[i].tag & 0x30) == 0x00)) + { + valid_num++; + if (valid_num % point_filter_num == 0) + { + pl_full[i].x = msg->points[i].x; + pl_full[i].y = msg->points[i].y; + pl_full[i].z = msg->points[i].z; + pl_full[i].intensity = msg->points[i].reflectivity; + pl_full[i].curvature = msg->points[i].offset_time / + float(1000000); // use curvature as time of each laser points, curvature unit: ms + + if ((abs(pl_full[i].x - pl_full[i - 1].x) > 1e-7) + || (abs(pl_full[i].y - pl_full[i - 1].y) > 1e-7) + || (abs(pl_full[i].z - pl_full[i - 1].z) > 1e-7) + && (pl_full[i].x * pl_full[i].x + pl_full[i].y * pl_full[i].y + pl_full[i].z * pl_full[i].z > (blind * blind))) + { + pl_surf.push_back(pl_full[i]); + } + } + } + } + } +} + +void Preprocess::oust64_handler(const sensor_msgs::msg::PointCloud2::UniquePtr &msg) +{ + pl_surf.clear(); + pl_corn.clear(); + pl_full.clear(); + pcl::PointCloud pl_orig; + pcl::fromROSMsg(*msg, pl_orig); + int plsize = pl_orig.size(); + pl_corn.reserve(plsize); + pl_surf.reserve(plsize); + if (feature_enabled) + { + for (int i = 0; i < N_SCANS; i++) + { + pl_buff[i].clear(); + pl_buff[i].reserve(plsize); + } + + for (uint i = 0; i < plsize; i++) + { + double range = pl_orig.points[i].x * pl_orig.points[i].x + pl_orig.points[i].y * pl_orig.points[i].y + + pl_orig.points[i].z * pl_orig.points[i].z; + if (range < (blind * blind)) + continue; + Eigen::Vector3d pt_vec; + PointType added_pt; + added_pt.x = pl_orig.points[i].x; + added_pt.y = pl_orig.points[i].y; + added_pt.z = pl_orig.points[i].z; + added_pt.intensity = pl_orig.points[i].intensity; + added_pt.normal_x = 0; + added_pt.normal_y = 0; + added_pt.normal_z = 0; + double yaw_angle = atan2(added_pt.y, added_pt.x) * 57.3; + if (yaw_angle >= 180.0) + yaw_angle -= 360.0; + if (yaw_angle <= -180.0) + yaw_angle += 360.0; + + added_pt.curvature = pl_orig.points[i].t * time_unit_scale; + if (pl_orig.points[i].ring < N_SCANS) + { + pl_buff[pl_orig.points[i].ring].push_back(added_pt); + } + } + + for (int j = 0; j < N_SCANS; j++) + { + PointCloudXYZI& pl = pl_buff[j]; + int linesize = pl.size(); + vector& types = typess[j]; + types.clear(); + types.resize(linesize); + linesize--; + for (uint i = 0; i < linesize; i++) + { + types[i].range = sqrt(pl[i].x * pl[i].x + pl[i].y * pl[i].y); + vx = pl[i].x - pl[i + 1].x; + vy = pl[i].y - pl[i + 1].y; + vz = pl[i].z - pl[i + 1].z; + types[i].dista = vx * vx + vy * vy + vz * vz; + } + types[linesize].range = sqrt(pl[linesize].x * pl[linesize].x + pl[linesize].y * pl[linesize].y); + give_feature(pl, types); + } + } + else + { + double time_stamp = rclcpp::Time(msg->header.stamp).seconds(); + // cout << "===================================" << endl; + // printf("Pt size = %d, N_SCANS = %d\r\n", plsize, N_SCANS); + for (int i = 0; i < pl_orig.points.size(); i++) + { + if (i % point_filter_num != 0) + continue; + + double range = pl_orig.points[i].x * pl_orig.points[i].x + pl_orig.points[i].y * pl_orig.points[i].y + + pl_orig.points[i].z * pl_orig.points[i].z; + + if (range < (blind * blind)) + continue; + + Eigen::Vector3d pt_vec; + PointType added_pt; + added_pt.x = pl_orig.points[i].x; + added_pt.y = pl_orig.points[i].y; + added_pt.z = pl_orig.points[i].z; + added_pt.intensity = pl_orig.points[i].intensity; + added_pt.normal_x = 0; + added_pt.normal_y = 0; + added_pt.normal_z = 0; + added_pt.curvature = pl_orig.points[i].t * time_unit_scale; // curvature unit: ms + + pl_surf.points.push_back(added_pt); + } + } + // pub_func(pl_surf, pub_full, msg->header.stamp); + // pub_func(pl_surf, pub_corn, msg->header.stamp); +} + +void Preprocess::velodyne_handler(const sensor_msgs::msg::PointCloud2::UniquePtr &msg) +{ + pl_surf.clear(); + pl_corn.clear(); + pl_full.clear(); + + pcl::PointCloud pl_orig; + pcl::fromROSMsg(*msg, pl_orig); + int plsize = pl_orig.points.size(); + if (plsize == 0) + return; + pl_surf.reserve(plsize); + + /*** These variables only works when no point timestamps given ***/ + double omega_l = 0.361 * SCAN_RATE; // scan angular velocity + std::vector is_first(N_SCANS, true); + std::vector yaw_fp(N_SCANS, 0.0); // yaw of first scan point + std::vector yaw_last(N_SCANS, 0.0); // yaw of last scan point + std::vector time_last(N_SCANS, 0.0); // last offset time + /*****************************************************************/ + + if (pl_orig.points[plsize - 1].time > 0) + { + given_offset_time = true; + } + else + { + given_offset_time = false; + double yaw_first = atan2(pl_orig.points[0].y, pl_orig.points[0].x) * 57.29578; + double yaw_end = yaw_first; + int layer_first = pl_orig.points[0].ring; + for (uint i = plsize - 1; i > 0; i--) + { + if (pl_orig.points[i].ring == layer_first) + { + yaw_end = atan2(pl_orig.points[i].y, pl_orig.points[i].x) * 57.29578; + break; + } + } + } + + if (feature_enabled) + { + for (int i = 0; i < N_SCANS; i++) + { + pl_buff[i].clear(); + pl_buff[i].reserve(plsize); + } + + for (int i = 0; i < plsize; i++) + { + PointType added_pt; + added_pt.normal_x = 0; + added_pt.normal_y = 0; + added_pt.normal_z = 0; + int layer = pl_orig.points[i].ring; + if (layer >= N_SCANS) + continue; + added_pt.x = pl_orig.points[i].x; + added_pt.y = pl_orig.points[i].y; + added_pt.z = pl_orig.points[i].z; + added_pt.intensity = pl_orig.points[i].intensity; + added_pt.curvature = pl_orig.points[i].time * time_unit_scale; // units: ms + + if (!given_offset_time) + { + double yaw_angle = atan2(added_pt.y, added_pt.x) * 57.2957; + if (is_first[layer]) + { + // printf("layer: %d; is first: %d", layer, is_first[layer]); + yaw_fp[layer] = yaw_angle; + is_first[layer] = false; + added_pt.curvature = 0.0; + yaw_last[layer] = yaw_angle; + time_last[layer] = added_pt.curvature; + continue; + } + + if (yaw_angle <= yaw_fp[layer]) + { + added_pt.curvature = (yaw_fp[layer] - yaw_angle) / omega_l; + } + else + { + added_pt.curvature = (yaw_fp[layer] - yaw_angle + 360.0) / omega_l; + } + + if (added_pt.curvature < time_last[layer]) + added_pt.curvature += 360.0 / omega_l; + + yaw_last[layer] = yaw_angle; + time_last[layer] = added_pt.curvature; + } + + pl_buff[layer].points.push_back(added_pt); + } + + for (int j = 0; j < N_SCANS; j++) + { + PointCloudXYZI& pl = pl_buff[j]; + int linesize = pl.size(); + if (linesize < 2) + continue; + vector& types = typess[j]; + types.clear(); + types.resize(linesize); + linesize--; + for (uint i = 0; i < linesize; i++) + { + types[i].range = sqrt(pl[i].x * pl[i].x + pl[i].y * pl[i].y); + vx = pl[i].x - pl[i + 1].x; + vy = pl[i].y - pl[i + 1].y; + vz = pl[i].z - pl[i + 1].z; + types[i].dista = vx * vx + vy * vy + vz * vz; + } + types[linesize].range = sqrt(pl[linesize].x * pl[linesize].x + pl[linesize].y * pl[linesize].y); + give_feature(pl, types); + } + } + else + { + for (int i = 0; i < plsize; i++) + { + PointType added_pt; + // cout<<"!!!!!!"< (blind * blind)) + { + pl_surf.points.push_back(added_pt); + } + } + } + } +} + +void Preprocess::mid360_handler(const sensor_msgs::msg::PointCloud2::UniquePtr &msg) +{ + pl_surf.clear(); + pl_corn.clear(); + pl_full.clear(); + + pcl::PointCloud pl_orig; + pcl::fromROSMsg(*msg, pl_orig); + int plsize = pl_orig.points.size(); + if (plsize == 0) + return; + pl_surf.reserve(plsize); + + /*** These variables only works when no point timestamps given ***/ + double omega_l = 0.361 * SCAN_RATE; // scan angular velocity + std::vector is_first(N_SCANS, true); + std::vector yaw_fp(N_SCANS, 0.0); // yaw of first scan point + std::vector yaw_last(N_SCANS, 0.0); // yaw of last scan point + std::vector time_last(N_SCANS, 0.0); // last offset time + /*****************************************************************/ + + given_offset_time = false; + double yaw_first = atan2(pl_orig.points[0].y, pl_orig.points[0].x) * 57.29578; + double yaw_end = yaw_first; + int layer_first = pl_orig.points[0].line; + for (uint i = plsize - 1; i > 0; i--) + { + if (pl_orig.points[i].line == layer_first) + { + yaw_end = atan2(pl_orig.points[i].y, pl_orig.points[i].x) * 57.29578; + break; + } + } + + for (uint i = 0; i < plsize; ++i) + { + PointType added_pt; + added_pt.normal_x = 0; + added_pt.normal_y = 0; + added_pt.normal_z = 0; + added_pt.x = pl_orig.points[i].x; + added_pt.y = pl_orig.points[i].y; + added_pt.z = pl_orig.points[i].z; + added_pt.intensity = pl_orig.points[i].reflectivity; + added_pt.curvature = 0.; + + int layer = pl_orig.points[i].line; + double yaw_angle = atan2(added_pt.y, added_pt.x) * 57.2957; + + if (is_first[layer]) + { + // printf("layer: %d; is first: %d", layer, is_first[layer]); + yaw_fp[layer] = yaw_angle; + is_first[layer] = false; + added_pt.curvature = 0.0; + yaw_last[layer] = yaw_angle; + time_last[layer] = added_pt.curvature; + continue; + } + + // compute offset time + if (yaw_angle <= yaw_fp[layer]) + { + added_pt.curvature = (yaw_fp[layer] - yaw_angle) / omega_l; + } + else + { + added_pt.curvature = (yaw_fp[layer] - yaw_angle + 360.0) / omega_l; + } + + if (added_pt.curvature < time_last[layer]) + added_pt.curvature += 360.0 / omega_l; + + yaw_last[layer] = yaw_angle; + time_last[layer] = added_pt.curvature; + + if (added_pt.x * added_pt.x + added_pt.y * added_pt.y + added_pt.z * added_pt.z > (blind * blind)) + { + pl_surf.push_back(std::move(added_pt)); + } + } +} + +void Preprocess::default_handler(const sensor_msgs::msg::PointCloud2::UniquePtr &msg) +{ + pl_surf.clear(); + pl_corn.clear(); + pl_full.clear(); + + pcl::PointCloud pl_orig; + pcl::fromROSMsg(*msg, pl_orig); + int plsize = pl_orig.points.size(); + if (plsize == 0) + return; + pl_surf.reserve(plsize); + + for(uint i = 0; i < plsize; ++i) + { + PointType added_pt; + added_pt.normal_x = 0; + added_pt.normal_y = 0; + added_pt.normal_z = 0; + added_pt.x = pl_orig.points[i].x; + added_pt.y = pl_orig.points[i].y; + added_pt.z = pl_orig.points[i].z; + added_pt.intensity = pl_orig.points[i].intensity; + added_pt.curvature = 0.; + + if (added_pt.x * added_pt.x + added_pt.y * added_pt.y + added_pt.z * added_pt.z > (blind * blind)) + { + pl_surf.push_back(std::move(added_pt)); + } + } +} + +void Preprocess::give_feature(pcl::PointCloud& pl, vector& types) +{ + int plsize = pl.size(); + int plsize2; + if (plsize == 0) + { + printf("something wrong\n"); + return; + } + uint head = 0; + + while (types[head].range < blind) + { + head++; + } + + // Surf + plsize2 = (plsize > group_size) ? (plsize - group_size) : 0; + + Eigen::Vector3d curr_direct(Eigen::Vector3d::Zero()); + Eigen::Vector3d last_direct(Eigen::Vector3d::Zero()); + + uint i_nex = 0, i2; + uint last_i = 0; + uint last_i_nex = 0; + int last_state = 0; + int plane_type; + + for (uint i = head; i < plsize2; i++) + { + if (types[i].range < blind) + { + continue; + } + + i2 = i; + + plane_type = plane_judge(pl, types, i, i_nex, curr_direct); + + if (plane_type == 1) + { + for (uint j = i; j <= i_nex; j++) + { + if (j != i && j != i_nex) + { + types[j].ftype = Real_Plane; + } + else + { + types[j].ftype = Poss_Plane; + } + } + + // if(last_state==1 && fabs(last_direct.sum())>0.5) + if (last_state == 1 && last_direct.norm() > 0.1) + { + double mod = last_direct.transpose() * curr_direct; + if (mod > -0.707 && mod < 0.707) + { + types[i].ftype = Edge_Plane; + } + else + { + types[i].ftype = Real_Plane; + } + } + + i = i_nex - 1; + last_state = 1; + } + else // if(plane_type == 2) + { + i = i_nex; + last_state = 0; + } + // else if(plane_type == 0) + // { + // if(last_state == 1) + // { + // uint i_nex_tem; + // uint j; + // for(j=last_i+1; j<=last_i_nex; j++) + // { + // uint i_nex_tem2 = i_nex_tem; + // Eigen::Vector3d curr_direct2; + + // uint ttem = plane_judge(pl, types, j, i_nex_tem, curr_direct2); + + // if(ttem != 1) + // { + // i_nex_tem = i_nex_tem2; + // break; + // } + // curr_direct = curr_direct2; + // } + + // if(j == last_i+1) + // { + // last_state = 0; + // } + // else + // { + // for(uint k=last_i_nex; k<=i_nex_tem; k++) + // { + // if(k != i_nex_tem) + // { + // types[k].ftype = Real_Plane; + // } + // else + // { + // types[k].ftype = Poss_Plane; + // } + // } + // i = i_nex_tem-1; + // i_nex = i_nex_tem; + // i2 = j-1; + // last_state = 1; + // } + + // } + // } + + last_i = i2; + last_i_nex = i_nex; + last_direct = curr_direct; + } + + plsize2 = plsize > 3 ? plsize - 3 : 0; + for (uint i = head + 3; i < plsize2; i++) + { + if (types[i].range < blind || types[i].ftype >= Real_Plane) + { + continue; + } + + if (types[i - 1].dista < 1e-16 || types[i].dista < 1e-16) + { + continue; + } + + Eigen::Vector3d vec_a(pl[i].x, pl[i].y, pl[i].z); + Eigen::Vector3d vecs[2]; + + for (int j = 0; j < 2; j++) + { + int m = -1; + if (j == 1) + { + m = 1; + } + + if (types[i + m].range < blind) + { + if (types[i].range > inf_bound) + { + types[i].edj[j] = Nr_inf; + } + else + { + types[i].edj[j] = Nr_blind; + } + continue; + } + + vecs[j] = Eigen::Vector3d(pl[i + m].x, pl[i + m].y, pl[i + m].z); + vecs[j] = vecs[j] - vec_a; + + types[i].angle[j] = vec_a.dot(vecs[j]) / vec_a.norm() / vecs[j].norm(); + if (types[i].angle[j] < jump_up_limit) + { + types[i].edj[j] = Nr_180; + } + else if (types[i].angle[j] > jump_down_limit) + { + types[i].edj[j] = Nr_zero; + } + } + + types[i].intersect = vecs[Prev].dot(vecs[Next]) / vecs[Prev].norm() / vecs[Next].norm(); + if (types[i].edj[Prev] == Nr_nor && types[i].edj[Next] == Nr_zero && types[i].dista > 0.0225 && + types[i].dista > 4 * types[i - 1].dista) + { + if (types[i].intersect > cos160) + { + if (edge_jump_judge(pl, types, i, Prev)) + { + types[i].ftype = Edge_Jump; + } + } + } + else if (types[i].edj[Prev] == Nr_zero && types[i].edj[Next] == Nr_nor && types[i - 1].dista > 0.0225 && + types[i - 1].dista > 4 * types[i].dista) + { + if (types[i].intersect > cos160) + { + if (edge_jump_judge(pl, types, i, Next)) + { + types[i].ftype = Edge_Jump; + } + } + } + else if (types[i].edj[Prev] == Nr_nor && types[i].edj[Next] == Nr_inf) + { + if (edge_jump_judge(pl, types, i, Prev)) + { + types[i].ftype = Edge_Jump; + } + } + else if (types[i].edj[Prev] == Nr_inf && types[i].edj[Next] == Nr_nor) + { + if (edge_jump_judge(pl, types, i, Next)) + { + types[i].ftype = Edge_Jump; + } + } + else if (types[i].edj[Prev] > Nr_nor && types[i].edj[Next] > Nr_nor) + { + if (types[i].ftype == Nor) + { + types[i].ftype = Wire; + } + } + } + + plsize2 = plsize - 1; + double ratio; + for (uint i = head + 1; i < plsize2; i++) + { + if (types[i].range < blind || types[i - 1].range < blind || types[i + 1].range < blind) + { + continue; + } + + if (types[i - 1].dista < 1e-8 || types[i].dista < 1e-8) + { + continue; + } + + if (types[i].ftype == Nor) + { + if (types[i - 1].dista > types[i].dista) + { + ratio = types[i - 1].dista / types[i].dista; + } + else + { + ratio = types[i].dista / types[i - 1].dista; + } + + if (types[i].intersect < smallp_intersect && ratio < smallp_ratio) + { + if (types[i - 1].ftype == Nor) + { + types[i - 1].ftype = Real_Plane; + } + if (types[i + 1].ftype == Nor) + { + types[i + 1].ftype = Real_Plane; + } + types[i].ftype = Real_Plane; + } + } + } + + int last_surface = -1; + for (uint j = head; j < plsize; j++) + { + if (types[j].ftype == Poss_Plane || types[j].ftype == Real_Plane) + { + if (last_surface == -1) + { + last_surface = j; + } + + if (j == uint(last_surface + point_filter_num - 1)) + { + PointType ap; + ap.x = pl[j].x; + ap.y = pl[j].y; + ap.z = pl[j].z; + ap.intensity = pl[j].intensity; + ap.curvature = pl[j].curvature; + pl_surf.push_back(ap); + + last_surface = -1; + } + } + else + { + if (types[j].ftype == Edge_Jump || types[j].ftype == Edge_Plane) + { + pl_corn.push_back(pl[j]); + } + if (last_surface != -1) + { + PointType ap; + for (uint k = last_surface; k < j; k++) + { + ap.x += pl[k].x; + ap.y += pl[k].y; + ap.z += pl[k].z; + ap.intensity += pl[k].intensity; + ap.curvature += pl[k].curvature; + } + ap.x /= (j - last_surface); + ap.y /= (j - last_surface); + ap.z /= (j - last_surface); + ap.intensity /= (j - last_surface); + ap.curvature /= (j - last_surface); + pl_surf.push_back(ap); + } + last_surface = -1; + } + } +} + +void Preprocess::pub_func(PointCloudXYZI& pl, const rclcpp::Time& ct) +{ + pl.height = 1; + pl.width = pl.size(); + sensor_msgs::msg::PointCloud2 output; + pcl::toROSMsg(pl, output); + output.header.frame_id = "livox"; + output.header.stamp = ct; +} + +int Preprocess::plane_judge(const PointCloudXYZI& pl, vector& types, uint i_cur, uint& i_nex, + Eigen::Vector3d& curr_direct) +{ + double group_dis = disA * types[i_cur].range + disB; + group_dis = group_dis * group_dis; + // i_nex = i_cur; + + double two_dis; + vector disarr; + disarr.reserve(20); + + for (i_nex = i_cur; i_nex < i_cur + group_size; i_nex++) + { + if (types[i_nex].range < blind) + { + curr_direct.setZero(); + return 2; + } + disarr.push_back(types[i_nex].dista); + } + + for (;;) + { + if ((i_cur >= pl.size()) || (i_nex >= pl.size())) + break; + + if (types[i_nex].range < blind) + { + curr_direct.setZero(); + return 2; + } + vx = pl[i_nex].x - pl[i_cur].x; + vy = pl[i_nex].y - pl[i_cur].y; + vz = pl[i_nex].z - pl[i_cur].z; + two_dis = vx * vx + vy * vy + vz * vz; + if (two_dis >= group_dis) + { + break; + } + disarr.push_back(types[i_nex].dista); + i_nex++; + } + + double leng_wid = 0; + double v1[3], v2[3]; + for (uint j = i_cur + 1; j < i_nex; j++) + { + if ((j >= pl.size()) || (i_cur >= pl.size())) + break; + v1[0] = pl[j].x - pl[i_cur].x; + v1[1] = pl[j].y - pl[i_cur].y; + v1[2] = pl[j].z - pl[i_cur].z; + + v2[0] = v1[1] * vz - vy * v1[2]; + v2[1] = v1[2] * vx - v1[0] * vz; + v2[2] = v1[0] * vy - vx * v1[1]; + + double lw = v2[0] * v2[0] + v2[1] * v2[1] + v2[2] * v2[2]; + if (lw > leng_wid) + { + leng_wid = lw; + } + } + + if ((two_dis * two_dis / leng_wid) < p2l_ratio) + { + curr_direct.setZero(); + return 0; + } + + uint disarrsize = disarr.size(); + for (uint j = 0; j < disarrsize - 1; j++) + { + for (uint k = j + 1; k < disarrsize; k++) + { + if (disarr[j] < disarr[k]) + { + leng_wid = disarr[j]; + disarr[j] = disarr[k]; + disarr[k] = leng_wid; + } + } + } + + if (disarr[disarr.size() - 2] < 1e-16) + { + curr_direct.setZero(); + return 0; + } + + if (lidar_type == AVIA) + { + double dismax_mid = disarr[0] / disarr[disarrsize / 2]; + double dismid_min = disarr[disarrsize / 2] / disarr[disarrsize - 2]; + + if (dismax_mid >= limit_maxmid || dismid_min >= limit_midmin) + { + curr_direct.setZero(); + return 0; + } + } + else + { + double dismax_min = disarr[0] / disarr[disarrsize - 2]; + if (dismax_min >= limit_maxmin) + { + curr_direct.setZero(); + return 0; + } + } + + curr_direct << vx, vy, vz; + curr_direct.normalize(); + return 1; +} + +bool Preprocess::edge_jump_judge(const PointCloudXYZI& pl, vector& types, uint i, Surround nor_dir) +{ + if (nor_dir == 0) + { + if (types[i - 1].range < blind || types[i - 2].range < blind) + { + return false; + } + } + else if (nor_dir == 1) + { + if (types[i + 1].range < blind || types[i + 2].range < blind) + { + return false; + } + } + double d1 = types[i + nor_dir - 1].dista; + double d2 = types[i + 3 * nor_dir - 2].dista; + double d; + + if (d1 < d2) + { + d = d1; + d1 = d2; + d2 = d; + } + + d1 = sqrt(d1); + d2 = sqrt(d2); + + if (d1 > edgea * d2 || (d1 - d2) > edgeb) + { + return false; + } + + return true; +} diff --git a/src/rm_nav/rm_localization/FAST_LIO/src/preprocess.h b/src/rm_nav/rm_localization/FAST_LIO/src/preprocess.h new file mode 100644 index 0000000..d4d6ddc --- /dev/null +++ b/src/rm_nav/rm_localization/FAST_LIO/src/preprocess.h @@ -0,0 +1,178 @@ +// #include +#include +#include +#include +#include + +using namespace std; + +#define IS_VALID(a) ((abs(a) > 1e8) ? true : false) + +typedef pcl::PointXYZINormal PointType; +typedef pcl::PointCloud PointCloudXYZI; + +enum LID_TYPE +{ + AVIA = 1, + VELO16, + OUST64, + MID360 +}; //{1, 2, 3} +enum TIME_UNIT +{ + SEC = 0, + MS = 1, + US = 2, + NS = 3 +}; +enum Feature +{ + Nor, + Poss_Plane, + Real_Plane, + Edge_Jump, + Edge_Plane, + Wire, + ZeroPoint +}; +enum Surround +{ + Prev, + Next +}; +enum E_jump +{ + Nr_nor, + Nr_zero, + Nr_180, + Nr_inf, + Nr_blind +}; + +struct orgtype +{ + double range; + double dista; + double angle[2]; + double intersect; + E_jump edj[2]; + Feature ftype; + orgtype() + { + range = 0; + edj[Prev] = Nr_nor; + edj[Next] = Nr_nor; + ftype = Nor; + intersect = 2; + } +}; + +namespace velodyne_ros +{ +struct EIGEN_ALIGN16 Point +{ + PCL_ADD_POINT4D; + float intensity; + float time; + uint16_t ring; + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; +} // namespace velodyne_ros +POINT_CLOUD_REGISTER_POINT_STRUCT(velodyne_ros::Point, + (float, x, x)(float, y, y)(float, z, z)(float, intensity, + intensity)(float, time, time)(uint16_t, ring, + ring)) + +namespace ouster_ros +{ +struct EIGEN_ALIGN16 Point +{ + PCL_ADD_POINT4D; + float intensity; + uint32_t t; + uint16_t reflectivity; + uint8_t ring; + uint16_t ambient; + uint32_t range; + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; +} // namespace ouster_ros + +// clang-format off +POINT_CLOUD_REGISTER_POINT_STRUCT(ouster_ros::Point, + (float, x, x) + (float, y, y) + (float, z, z) + (float, intensity, intensity) + // use std::uint32_t to avoid conflicting with pcl::uint32_t + (std::uint32_t, t, t) + (std::uint16_t, reflectivity, reflectivity) + (std::uint8_t, ring, ring) + (std::uint16_t, ambient, ambient) + (std::uint32_t, range, range) +) + +namespace livox_ros +{ +typedef struct { + float x; /**< X axis, Unit:m */ + float y; /**< Y axis, Unit:m */ + float z; /**< Z axis, Unit:m */ + float reflectivity; /**< Reflectivity */ + uint8_t tag; /**< Livox point tag */ + uint8_t line; /**< Laser line id */ +} LivoxPointXyzrtl; +} +POINT_CLOUD_REGISTER_POINT_STRUCT(livox_ros::LivoxPointXyzrtl, + (float, x, x) + (float, y, y) + (float, z, z) + (float, reflectivity, reflectivity) + (uint8_t, tag, tag) + (uint8_t, line, line) +) + +class Preprocess +{ + public: +// EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + Preprocess(); + ~Preprocess(); + + void process(const livox_ros_driver2::msg::CustomMsg::UniquePtr &msg, PointCloudXYZI::Ptr &pcl_out); + void process(const sensor_msgs::msg::PointCloud2::UniquePtr &msg, PointCloudXYZI::Ptr &pcl_out); + void set(bool feat_en, int lid_type, double bld, int pfilt_num); + + // sensor_msgs::PointCloud2::ConstPtr pointcloud; + PointCloudXYZI pl_full, pl_corn, pl_surf; + PointCloudXYZI pl_buff[128]; //maximum 128 line lidar + vector typess[128]; //maximum 128 line lidar + float time_unit_scale; + int lidar_type, point_filter_num, N_SCANS, SCAN_RATE, time_unit; + double blind; + bool feature_enabled, given_offset_time; + // ros::Publisher pub_full, pub_surf, pub_corn; + +private: + void avia_handler(const livox_ros_driver2::msg::CustomMsg::UniquePtr &msg); + void oust64_handler(const sensor_msgs::msg::PointCloud2::UniquePtr &msg); + void velodyne_handler(const sensor_msgs::msg::PointCloud2::UniquePtr &msg); + void mid360_handler(const sensor_msgs::msg::PointCloud2::UniquePtr &msg); + void default_handler(const sensor_msgs::msg::PointCloud2::UniquePtr &msg); + void give_feature(PointCloudXYZI &pl, vector &types); + void pub_func(PointCloudXYZI &pl, const rclcpp::Time &ct); + int plane_judge(const PointCloudXYZI &pl, vector &types, uint i, uint &i_nex, Eigen::Vector3d &curr_direct); + bool small_plane(const PointCloudXYZI &pl, vector &types, uint i_cur, uint &i_nex, Eigen::Vector3d &curr_direct); + bool edge_jump_judge(const PointCloudXYZI &pl, vector &types, uint i, Surround nor_dir); + + int group_size; + double disA, disB, inf_bound; + double limit_maxmid, limit_midmin, limit_maxmin; + double p2l_ratio; + double jump_up_limit, jump_down_limit; + double cos160; + double edgea, edgeb; + double smallp_intersect, smallp_ratio; + double vx, vy, vz; +}; diff --git a/src/rm_nav/rm_localization/icp_registration/CMakeLists.txt b/src/rm_nav/rm_localization/icp_registration/CMakeLists.txt new file mode 100644 index 0000000..fcc80da --- /dev/null +++ b/src/rm_nav/rm_localization/icp_registration/CMakeLists.txt @@ -0,0 +1,46 @@ +cmake_minimum_required(VERSION 3.8) +project(icp_registration) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) + +# find dependencies +find_package(ament_cmake_auto REQUIRED) +find_package(PCL REQUIRED QUIET) + +ament_auto_find_build_dependencies() + +ament_auto_add_library(${PROJECT_NAME} SHARED + DIRECTORY src +) +target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES}) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN icp::IcpNode + EXECUTABLE ${PROJECT_NAME}_node +) + +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package( + INSTALL_TO_SHARE + launch + config +) diff --git a/src/rm_nav/rm_localization/icp_registration/config/icp.yaml b/src/rm_nav/rm_localization/icp_registration/config/icp.yaml new file mode 100644 index 0000000..68f4037 --- /dev/null +++ b/src/rm_nav/rm_localization/icp_registration/config/icp.yaml @@ -0,0 +1,15 @@ +/icp_registration: + ros__parameters: + use_sim_time: false + rough_leaf_size: 0.4 + refine_leaf_size: 0.1 + pcd_path: "/home/zcf/Downloads/RMUL.pcd" + map_frame_id: "map" + odom_frame_id: "odom" + laser_frame_id: "livox_frame" + pointcloud_topic: "/livox/lidar/pointcloud" + thresh: 0.1 + xy_offset: 0.2 + yaw_offset: 30.0 + yaw_resolution: 10.0 + initial_pose: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # x,y,z,roll,pitch,yaw \ No newline at end of file diff --git a/src/rm_nav/rm_localization/icp_registration/include/icp_registration/icp_registration.hpp b/src/rm_nav/rm_localization/icp_registration/include/icp_registration/icp_registration.hpp new file mode 100644 index 0000000..b446e2e --- /dev/null +++ b/src/rm_nav/rm_localization/icp_registration/include/icp_registration/icp_registration.hpp @@ -0,0 +1,90 @@ +#ifndef ICP_REGISTRATION_HPP +#define ICP_REGISTRATION_HPP + +// std +#include +#include + +// ros +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +// pcl +#include +#include +#include + +namespace icp { +using PointType = pcl::PointXYZINormal; +using PointCloudXYZI = pcl::PointCloud; +using PointCloudXYZIN = pcl::PointCloud; + +// Get initial map to odom pose estimation using ICP algorithm +class IcpNode : public rclcpp::Node { +public: + IcpNode(const rclcpp::NodeOptions &options); + ~IcpNode(); +private: + void pointcloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr msg); + void initialPoseCallback( + const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg); + + static PointCloudXYZIN::Ptr addNorm(PointCloudXYZI::Ptr cloud); + + // Eigen::Matrix4d align(PointCloudXYZI::Ptr source, + // const Eigen::Matrix4d &init_guess); + + Eigen::Matrix4d multiAlignSync(PointCloudXYZI::Ptr source, + const Eigen::Matrix4d &init_guess); + + // ROS2 part + rclcpp::Subscription::SharedPtr + initial_pose_sub_; + rclcpp::Subscription::SharedPtr + pointcloud_sub_; + // rclcpp::TimerBase::SharedPtr timer_; + std::shared_ptr tf_broadcaster_; + std::shared_ptr tf_buffer_; + std::shared_ptr tf_listener_; + + std::mutex mutex_; + std::unique_ptr tf_publisher_thread_; + + // Voxelfilter used to downsample the pointcloud + pcl::VoxelGrid voxel_rough_filter_; + pcl::VoxelGrid voxel_refine_filter_; + + // ICP + int rough_iter_; + int refine_iter_; + pcl::IterativeClosestPointWithNormals icp_rough_; + pcl::IterativeClosestPointWithNormals icp_refine_; + + // Store + PointCloudXYZI::Ptr cloud_in_; + PointCloudXYZIN::Ptr refine_map_; + PointCloudXYZIN::Ptr rough_map_; + geometry_msgs::msg::TransformStamped map_to_odom_; + std::filesystem::path pcd_path_; + std::string map_frame_id_, odom_frame_id_, range_odom_frame_id_, laser_frame_id_; + bool success_; + double score_; + double thresh_; + double xy_offset_; + double yaw_offset_; + double yaw_resolution_; + geometry_msgs::msg::Pose initial_pose_; + + bool is_ready_; + bool first_scan_; +}; +} // namespace icp +#endif \ No newline at end of file diff --git a/src/rm_nav/rm_localization/icp_registration/launch/icp.launch.py b/src/rm_nav/rm_localization/icp_registration/launch/icp.launch.py new file mode 100644 index 0000000..fba5c7a --- /dev/null +++ b/src/rm_nav/rm_localization/icp_registration/launch/icp.launch.py @@ -0,0 +1,19 @@ +import os +import sys +from ament_index_python.packages import get_package_share_directory +sys.path.append(os.path.join(get_package_share_directory('icp_registration'), 'launch')) + +def generate_launch_description(): + from launch_ros.actions import Node + from launch import LaunchDescription + + params = os.path.join(get_package_share_directory('icp_registration'), 'config', 'icp.yaml') + node = Node( + package='icp_registration', + executable='icp_registration_node', + output='screen', + parameters=[params] + ) + + return LaunchDescription([node]) + \ No newline at end of file diff --git a/src/rm_nav/rm_localization/icp_registration/package.xml b/src/rm_nav/rm_localization/icp_registration/package.xml new file mode 100644 index 0000000..e9dadca --- /dev/null +++ b/src/rm_nav/rm_localization/icp_registration/package.xml @@ -0,0 +1,29 @@ + + + + icp_registration + 0.0.0 + TODO: Package description + zcf + TODO: License declaration + + ament_cmake + + rclcpp + rclcpp_components + sensor_msgs + pcl_conversions + tf2 + tf2_ros + tf2_geometry_msgs + livox_ros_driver2 + eigen + geometry_msgs + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/rm_nav/rm_localization/icp_registration/src/icp_registration.cpp b/src/rm_nav/rm_localization/icp_registration/src/icp_registration.cpp new file mode 100644 index 0000000..e5ccba2 --- /dev/null +++ b/src/rm_nav/rm_localization/icp_registration/src/icp_registration.cpp @@ -0,0 +1,387 @@ +#include "icp_registration/icp_registration.hpp" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace icp { + +IcpNode::IcpNode(const rclcpp::NodeOptions &options) + : Node("icp_registration", options), rough_iter_(10), refine_iter_(5), + first_scan_(true) { + is_ready_ = false; + cloud_in_ = + pcl::PointCloud::Ptr(new pcl::PointCloud); + // this->declare_parameter("use_sim_time", false); + double rough_leaf_size = this->declare_parameter("rough_leaf_size", 0.4); + double refine_leaf_size = this->declare_parameter("refine_leaf_size", 0.1); + voxel_rough_filter_.setLeafSize(rough_leaf_size, rough_leaf_size, + rough_leaf_size); + voxel_refine_filter_.setLeafSize(refine_leaf_size, refine_leaf_size, + refine_leaf_size); + + pcd_path_ = this->declare_parameter("pcd_path", std::string("")); + if (!std::filesystem::exists(pcd_path_)) { + RCLCPP_ERROR(this->get_logger(), "Invalid pcd path: %s", pcd_path_.c_str()); + throw std::runtime_error("Invalid pcd path"); + } + // Read the pcd file + pcl::PCDReader reader; + pcl::PointCloud::Ptr cloud( + new pcl::PointCloud); + reader.read(pcd_path_, *cloud); + voxel_refine_filter_.setInputCloud(cloud); + voxel_refine_filter_.filter(*cloud); + + // Add normal to the pointcloud + refine_map_ = addNorm(cloud); + pcl::PointCloud::Ptr point_rough( + new pcl::PointCloud); + pcl::PointCloud::Ptr filterd_point_rough( + new pcl::PointCloud); + pcl::copyPointCloud(*refine_map_, *point_rough); + voxel_rough_filter_.setInputCloud(point_rough); + voxel_rough_filter_.filter(*filterd_point_rough); + rough_map_ = addNorm(filterd_point_rough); + + icp_rough_.setMaximumIterations(rough_iter_); + icp_rough_.setInputTarget(rough_map_); + + icp_refine_.setMaximumIterations(refine_iter_); + icp_refine_.setInputTarget(refine_map_); + + RCLCPP_INFO(this->get_logger(), "pcd point size: %ld, %ld", + refine_map_->size(), rough_map_->size()); + + // Parameters + map_frame_id_ = this->declare_parameter("map_frame_id", std::string("map")); + odom_frame_id_ = + this->declare_parameter("odom_frame_id", std::string("odom")); + range_odom_frame_id_ = + this->declare_parameter("range_odom_frame_id", std::string("lidar_odom")); + laser_frame_id_ = + this->declare_parameter("laser_frame_id", std::string("laser")); + thresh_ = this->declare_parameter("thresh", 0.15); + xy_offset_ = this->declare_parameter("xy_offset", 0.2); + yaw_offset_ = this->declare_parameter("yaw_offset", 30.0) * M_PI / 180.0; + yaw_resolution_ = + this->declare_parameter("yaw_resolution", 10.0) * M_PI / 180.0; + std::vector initial_pose_vec = this->declare_parameter( + "initial_pose", std::vector{0, 0, 0, 0, 0, 0}); + try { + initial_pose_.position.x = initial_pose_vec.at(0); + initial_pose_.position.y = initial_pose_vec.at(1); + initial_pose_.position.z = initial_pose_vec.at(2); + tf2::Quaternion q; + q.setRPY(initial_pose_vec.at(3), initial_pose_vec.at(4), + initial_pose_vec.at(5)); + } catch (const std::out_of_range &ex) { + RCLCPP_ERROR(this->get_logger(), + "initial_pose is not a vector with 6 elements, what():%s", + ex.what()); + } + + // Set up the pointcloud subscriber + std::string pointcloud_topic = this->declare_parameter( + "pointcloud_topic", std::string("/livox/lidar/pointcloud")); + RCLCPP_INFO(this->get_logger(), "pointcloud_topic: %s", + pointcloud_topic.c_str()); + auto qos = rclcpp::QoS(rclcpp::KeepLast(10)); + pointcloud_sub_ = create_subscription( + pointcloud_topic, qos, + std::bind(&IcpNode::pointcloudCallback, this, std::placeholders::_1)); + // Set up the initial pose subscriber + initial_pose_sub_ = + create_subscription( + "/initialpose", qos, + [this](geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg) { + initialPoseCallback(msg); + }); + + // Set up the transform broadcaster + tf_broadcaster_ = std::make_shared(this); + tf_buffer_ = std::make_shared(this->get_clock()); + auto timer_interface = std::make_shared( + this->get_node_base_interface(), this->get_node_timers_interface()); + tf_buffer_->setCreateTimerInterface(timer_interface); + tf_listener_ = std::make_shared(*tf_buffer_); + + // Set up the timer + // timer_ = create_wall_timer(std::chrono::milliseconds(10), [this]() { + // if (is_ready_) { + // map_to_odom_.header.stamp = now(); + // map_to_odom_.header.frame_id = map_frame_id_; + // map_to_odom_.child_frame_id = odom_frame_id_; + // tf_broadcaster_->sendTransform(map_to_odom_); + // } + // }); + + tf_publisher_thread_ = std::make_unique([this]() { + rclcpp::Rate rate(100); + while (rclcpp::ok()) { + { + std::lock_guard lock(mutex_); + if (is_ready_) { + RCLCPP_DEBUG_STREAM(this->get_logger(), + "Publishing tf" + << map_to_odom_.transform.translation.x << " " + << map_to_odom_.transform.translation.y << " " + << map_to_odom_.transform.translation.z); + map_to_odom_.header.stamp = now(); + map_to_odom_.header.frame_id = map_frame_id_; + map_to_odom_.child_frame_id = odom_frame_id_; + tf_broadcaster_->sendTransform(map_to_odom_); + } + } + rate.sleep(); + } + }); + + RCLCPP_INFO(this->get_logger(), "icp_registration initialized"); +} + +IcpNode::~IcpNode() { + if (tf_publisher_thread_->joinable()) { + tf_publisher_thread_->join(); + } +} + +void IcpNode::pointcloudCallback( + const sensor_msgs::msg::PointCloud2::SharedPtr msg) { + pcl::fromROSMsg(*msg, *cloud_in_); + if (first_scan_) { + auto pose_msg = + std::make_shared(); + pose_msg->header = msg->header; + pose_msg->pose.pose = initial_pose_; + initialPoseCallback(pose_msg); + first_scan_ = false; + } +} + +void IcpNode::initialPoseCallback( + const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg) { + + // Set the initial pose + Eigen::Vector3d pos(msg->pose.pose.position.x, msg->pose.pose.position.y, + msg->pose.pose.position.z); + Eigen::Quaterniond q( + msg->pose.pose.orientation.w, msg->pose.pose.orientation.x, + msg->pose.pose.orientation.y, msg->pose.pose.orientation.z); + Eigen::Matrix4d initial_guess; + initial_guess.block<3, 3>(0, 0) = q.toRotationMatrix(); + initial_guess.block<3, 1>(0, 3) = pos; + initial_guess(3, 3) = 1; + + // Align the pointcloud + RCLCPP_INFO(this->get_logger(), "Aligning the pointcloud"); + Eigen::Matrix4d map_to_laser = multiAlignSync(cloud_in_, initial_guess); + // Eigen::Matrix4d result = align(cloud_in_, initial_guess); + if (!success_) { + map_to_laser = initial_guess; + RCLCPP_ERROR(this->get_logger(), "ICP failed"); + } + + // Eigen::Isometry3d laser_to_odom; + Eigen::Matrix4d laser_to_odom = Eigen::Matrix4d::Identity(); + try { + // Get odom to laser transform + auto transform = + tf_buffer_->lookupTransform(laser_frame_id_, range_odom_frame_id_, now(), + rclcpp::Duration::from_seconds(10)); + // RCLCPP_INFO(get_logger(), "%s", transform.header.frame_id.c_str()); + Eigen::Vector3d t(transform.transform.translation.x, + transform.transform.translation.y, + transform.transform.translation.z); + Eigen::Quaterniond q( + transform.transform.rotation.w, transform.transform.rotation.x, + transform.transform.rotation.y, transform.transform.rotation.z); + // laser_to_odom.prerotate(q); + // laser_to_odom.translate(t); + laser_to_odom.block<3, 3>(0, 0) = q.toRotationMatrix(); + laser_to_odom.block<3, 1>(0, 3) = t; + } catch (tf2::TransformException &ex) { + std::lock_guard lock(mutex_); + RCLCPP_ERROR(this->get_logger(), "%s", ex.what()); + is_ready_ = false; + return; + } + Eigen::Matrix4d result = map_to_laser * laser_to_odom.matrix().cast(); + { + std::lock_guard lock(mutex_); + map_to_odom_.transform.translation.x = result(0, 3); + map_to_odom_.transform.translation.y = result(1, 3); + map_to_odom_.transform.translation.z = result(2, 3); + + Eigen::Matrix3d rotation = result.block<3, 3>(0, 0); + q = Eigen::Quaterniond(rotation); + + map_to_odom_.transform.rotation.w = q.w(); + map_to_odom_.transform.rotation.x = q.x(); + map_to_odom_.transform.rotation.y = q.y(); + map_to_odom_.transform.rotation.z = q.z(); + is_ready_ = true; + } +} + +// Eigen::Matrix4d IcpNode::align(PointCloudXYZI::Ptr source, +// const Eigen::Matrix4d &init_guess) { +// success_ = false; +// // Eigen::Vector3d xyz = init_guess.block<3, 1>(0, 3); + +// pcl::PointCloud::Ptr rough_source( +// new pcl::PointCloud); +// pcl::PointCloud::Ptr refine_source( +// new pcl::PointCloud); + +// voxel_rough_filter_.setInputCloud(source); +// voxel_rough_filter_.filter(*rough_source); +// voxel_refine_filter_.setInputCloud(source); +// voxel_refine_filter_.filter(*refine_source); + +// PointCloudXYZIN::Ptr rough_source_norm = addNorm(rough_source); +// PointCloudXYZIN::Ptr refine_source_norm = addNorm(refine_source); +// PointCloudXYZIN::Ptr align_point(new PointCloudXYZIN); +// auto tic = std::chrono::system_clock::now(); +// icp_rough_.setInputSource(rough_source_norm); +// icp_rough_.align(*align_point, init_guess.cast()); + +// score_ = icp_rough_.getFitnessScore(); +// if (!icp_rough_.hasConverged()) +// return Eigen::Matrix4d::Zero(); + +// icp_refine_.setInputSource(refine_source_norm); +// icp_refine_.align(*align_point, icp_rough_.getFinalTransformation()); +// score_ = icp_refine_.getFitnessScore(); + +// if (!icp_refine_.hasConverged()) +// return Eigen::Matrix4d::Zero(); +// if (score_ > thresh_) +// return Eigen::Matrix4d::Zero(); +// success_ = true; +// auto toc = std::chrono::system_clock::now(); +// std::chrono::duration duration = toc - tic; +// RCLCPP_INFO(this->get_logger(), "align used: %f ms", duration.count() * +// 1000); RCLCPP_INFO(this->get_logger(), "score: %f", score_); + +// return icp_refine_.getFinalTransformation().cast(); +// } + +Eigen::Matrix4d IcpNode::multiAlignSync(PointCloudXYZI::Ptr source, + const Eigen::Matrix4d &init_guess) { + static auto rotate2rpy = [](Eigen::Matrix3d &rot) -> Eigen::Vector3d { + double roll = std::atan2(rot(2, 1), rot(2, 2)); + double pitch = asin(-rot(2, 0)); + double yaw = std::atan2(rot(1, 0), rot(0, 0)); + return Eigen::Vector3d(roll, pitch, yaw); + }; + + success_ = false; + Eigen::Vector3d xyz = init_guess.block<3, 1>(0, 3); + Eigen::Matrix3d rotation = init_guess.block<3, 3>(0, 0); + Eigen::Vector3d rpy = rotate2rpy(rotation); + Eigen::AngleAxisf rollAngle(rpy(0), Eigen::Vector3f::UnitX()); + Eigen::AngleAxisf pitchAngle(rpy(1), Eigen::Vector3f::UnitY()); + std::vector candidates; + Eigen::Matrix4f temp_pose; + + RCLCPP_INFO(this->get_logger(), "initial guess: %f, %f, %f, %f, %f, %f", + xyz(0), xyz(1), xyz(2), rpy(0), rpy(1), rpy(2)); + + for (int i = -1; i <= 1; i++) { + for (int j = -1; j <= 1; j++) { + for (int k = -yaw_offset_; k <= yaw_offset_; k++) { + Eigen::Vector3f pos(xyz(0) + i * xy_offset_, xyz(1) + j * xy_offset_, + xyz(2)); + Eigen::AngleAxisf yawAngle(rpy(2) + k * yaw_resolution_, + Eigen::Vector3f::UnitZ()); + temp_pose.setIdentity(); + temp_pose.block<3, 3>(0, 0) = + (rollAngle * pitchAngle * yawAngle).toRotationMatrix(); + temp_pose.block<3, 1>(0, 3) = pos; + candidates.push_back(temp_pose); + } + } + } + pcl::PointCloud::Ptr rough_source( + new pcl::PointCloud); + pcl::PointCloud::Ptr refine_source( + new pcl::PointCloud); + + voxel_rough_filter_.setInputCloud(source); + voxel_rough_filter_.filter(*rough_source); + voxel_refine_filter_.setInputCloud(source); + voxel_refine_filter_.filter(*refine_source); + + PointCloudXYZIN::Ptr rough_source_norm = addNorm(rough_source); + PointCloudXYZIN::Ptr refine_source_norm = addNorm(refine_source); + PointCloudXYZIN::Ptr align_point(new PointCloudXYZIN); + + Eigen::Matrix4f best_rough_transform; + double best_rough_score = 10.0; + bool rough_converge = false; + auto tic = std::chrono::system_clock::now(); + for (Eigen::Matrix4f &init_pose : candidates) { + icp_rough_.setInputSource(rough_source_norm); + icp_rough_.align(*align_point, init_pose); + if (!icp_rough_.hasConverged()) + continue; + double rough_score = icp_rough_.getFitnessScore(); + if (rough_score > 2 * thresh_) + continue; + if (rough_score < best_rough_score) { + best_rough_score = rough_score; + rough_converge = true; + best_rough_transform = icp_rough_.getFinalTransformation(); + } + } + + if (!rough_converge) + return Eigen::Matrix4d::Zero(); + + icp_refine_.setInputSource(refine_source_norm); + icp_refine_.align(*align_point, best_rough_transform); + score_ = icp_refine_.getFitnessScore(); + + if (!icp_refine_.hasConverged()) + return Eigen::Matrix4d::Zero(); + if (score_ > thresh_) + return Eigen::Matrix4d::Zero(); + success_ = true; + auto toc = std::chrono::system_clock::now(); + std::chrono::duration duration = toc - tic; + RCLCPP_INFO(this->get_logger(), "align used: %f ms", duration.count() * 1000); + RCLCPP_INFO(this->get_logger(), "score: %f", score_); + + return icp_refine_.getFinalTransformation().cast(); +} + +PointCloudXYZIN::Ptr +IcpNode::addNorm(pcl::PointCloud::Ptr cloud) { + pcl::PointCloud::Ptr normals(new pcl::PointCloud); + pcl::search::KdTree::Ptr searchTree( + new pcl::search::KdTree); + searchTree->setInputCloud(cloud); + + pcl::NormalEstimation normalEstimator; + normalEstimator.setInputCloud(cloud); + normalEstimator.setSearchMethod(searchTree); + normalEstimator.setKSearch(15); + normalEstimator.compute(*normals); + PointCloudXYZIN::Ptr out(new PointCloudXYZIN); + pcl::concatenateFields(*cloud, *normals, *out); + return out; +} + +} // namespace icp + +#include "rclcpp_components/register_node_macro.hpp" +RCLCPP_COMPONENTS_REGISTER_NODE(icp::IcpNode) diff --git a/src/rm_nav/rm_localization/point_lio/.gitignore b/src/rm_nav/rm_localization/point_lio/.gitignore new file mode 100644 index 0000000..1f12e58 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/.gitignore @@ -0,0 +1,11 @@ +devel/ +build/ +install/ +log/ + +.vscode/ +.cache/ +__pycache__/ +.catkin_workspace +*.gv +*.pdf \ No newline at end of file diff --git a/src/rm_nav/rm_localization/point_lio/CMakeLists.txt b/src/rm_nav/rm_localization/point_lio/CMakeLists.txt new file mode 100755 index 0000000..a48d257 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/CMakeLists.txt @@ -0,0 +1,111 @@ +cmake_minimum_required(VERSION 3.8) +project(point_lio) + +if(NOT CMAKE_BUILD_TYPE) + set(CMAKE_BUILD_TYPE Release) +endif() + +ADD_COMPILE_OPTIONS(-std=c++14) +ADD_COMPILE_OPTIONS(-std=c++14) +set(CMAKE_CXX_FLAGS "-std=c++14 -O3") + +add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\") + +set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions") +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) +set(CMAKE_CXX_EXTENSIONS OFF) +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread -std=c++0x -std=c++14 -fexceptions") +set(CMAKE_POSITION_INDEPENDENT_CODE ON) + +if(CMAKE_SYSTEM_PROCESSOR MATCHES "(x86)|(X86)|(amd64)|(AMD64)" ) + include(ProcessorCount) + ProcessorCount(N) + if(N GREATER 5) + add_definitions(-DMP_EN) + add_definitions(-DMP_PROC_NUM=4) + elseif(N GREATER 3) + math(EXPR PROC_NUM "${N} - 2") + add_definitions(-DMP_EN) + add_definitions(-DMP_PROC_NUM="${PROC_NUM}") + else() + add_definitions(-DMP_PROC_NUM=1) + endif() +else() + add_definitions(-DMP_PROC_NUM=1) +endif() + +# Find packages +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(rclpy REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(visualization_msgs REQUIRED) +find_package(pcl_ros REQUIRED) +find_package(pcl_conversions REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(livox_ros_driver2 REQUIRED) + +find_package(Eigen3 REQUIRED) + + +# OpenMP +find_package(OpenMP QUIET) +if(OPENMP_FOUND) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") + set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}") +endif() + +find_package(PythonLibs REQUIRED) # Consider using Pybind11 for ROS2 +find_path(MATPLOTLIB_CPP_INCLUDE_DIRS "matplotlibcpp.h") + +include_directories( + include + ${EIGEN3_INCLUDE_DIR} + ${PCL_INCLUDE_DIRS} + ${PYTHON_INCLUDE_DIRS} +) + +link_directories( + include + ${PCL_LIBRARY_DIRS} +) + +# Declare a ROS2 executable +add_executable(pointlio_mapping src/laserMapping.cpp + src/li_initialization.cpp src/parameters.cpp src/preprocess.cpp src/Estimator.cpp + src/IMU_Processing.cpp) + +ament_target_dependencies(pointlio_mapping + rclcpp + rclpy + geometry_msgs + nav_msgs + sensor_msgs + visualization_msgs + pcl_ros + pcl_conversions + tf2_ros + livox_ros_driver2 +) + +target_link_libraries(pointlio_mapping ${PCL_LIBRARIES} ${PYTHON_LIBRARIES}) +target_include_directories(pointlio_mapping PRIVATE ${PYTHON_INCLUDE_DIRS}) + +# Install the executable +install(TARGETS + pointlio_mapping + DESTINATION lib/${PROJECT_NAME} +) + +install( + DIRECTORY config launch rviz_cfg + DESTINATION share/${PROJECT_NAME} +) + +# Export dependencies +ament_export_dependencies(rclcpp rclpy geometry_msgs nav_msgs sensor_msgs pcl_ros pcl_conversions tf2_ros livox_ros_driver2 Eigen3 PCL) + +ament_package() diff --git a/src/rm_nav/rm_localization/point_lio/LICENSE b/src/rm_nav/rm_localization/point_lio/LICENSE new file mode 100755 index 0000000..399a50f --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/LICENSE @@ -0,0 +1,34 @@ +This is an advanced implementation of the algorithm described in the following paper: + J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time. + Robotics: Science and Systems Conference (RSS). Berkeley, CA, July 2014. + +Modifier: livox dev@livoxtech.com + +Copyright 2013, Ji Zhang, Carnegie Mellon University +Further contributions copyright (c) 2016, Southwest Research Institute +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. +3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without + specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,OR +TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF +THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + diff --git a/src/rm_nav/rm_localization/point_lio/Log/IMU_before_filter.txt b/src/rm_nav/rm_localization/point_lio/Log/IMU_before_filter.txt new file mode 100644 index 0000000..e69de29 diff --git a/src/rm_nav/rm_localization/point_lio/Log/IMU_meas.txt b/src/rm_nav/rm_localization/point_lio/Log/IMU_meas.txt new file mode 100644 index 0000000..e69de29 diff --git a/src/rm_nav/rm_localization/point_lio/Log/LiDAR_meas.txt b/src/rm_nav/rm_localization/point_lio/Log/LiDAR_meas.txt new file mode 100644 index 0000000..e69de29 diff --git a/src/rm_nav/rm_localization/point_lio/Log/Lidar_before_filter.txt b/src/rm_nav/rm_localization/point_lio/Log/Lidar_before_filter.txt new file mode 100644 index 0000000..e69de29 diff --git a/src/rm_nav/rm_localization/point_lio/Log/Lidar_omg_after_rot.txt b/src/rm_nav/rm_localization/point_lio/Log/Lidar_omg_after_rot.txt new file mode 100644 index 0000000..e69de29 diff --git a/src/rm_nav/rm_localization/point_lio/Log/acc_cost.txt b/src/rm_nav/rm_localization/point_lio/Log/acc_cost.txt new file mode 100644 index 0000000..e69de29 diff --git a/src/rm_nav/rm_localization/point_lio/Log/guide.md b/src/rm_nav/rm_localization/point_lio/Log/guide.md new file mode 100755 index 0000000..883b3d4 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/Log/guide.md @@ -0,0 +1 @@ +Here saved the debug records which can be drew by the ../log/plot.py. The record function can be found frm the MACRO: DEBUG_FILE_DIR(name) in common_lib.h. diff --git a/src/rm_nav/rm_localization/point_lio/Log/imu.txt b/src/rm_nav/rm_localization/point_lio/Log/imu.txt new file mode 100755 index 0000000..e69de29 diff --git a/src/rm_nav/rm_localization/point_lio/Log/imu_pbp.txt b/src/rm_nav/rm_localization/point_lio/Log/imu_pbp.txt new file mode 100644 index 0000000..e69de29 diff --git a/src/rm_nav/rm_localization/point_lio/Log/mat_out.txt b/src/rm_nav/rm_localization/point_lio/Log/mat_out.txt new file mode 100644 index 0000000..e69de29 diff --git a/src/rm_nav/rm_localization/point_lio/Log/plot.py b/src/rm_nav/rm_localization/point_lio/Log/plot.py new file mode 100755 index 0000000..b5d1c1a --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/Log/plot.py @@ -0,0 +1,46 @@ +# import matplotlib +# matplotlib.use('Agg') +import numpy as np +import matplotlib.pyplot as plt + +a_out=np.loadtxt('mat_out.txt') +#######for normal####### +fig, axs = plt.subplots(3,2) +lab_out = ['', 'out-x', 'out-y', 'out-z'] +plot_ind = range(7,10) +time=a_out[:,0] +axs[0,0].set_title('Attitude') +axs[1,0].set_title('Translation') +axs[2,0].set_title('Velocity') +axs[0,1].set_title('bg') +axs[1,1].set_title('ba') +axs[2,1].set_title('Gravity') +for i in range(1,4): + for j in range(6): + axs[j%3, j//3].plot(time, a_out[:,i+j*3],'.-', label=lab_out[i]) + for j in range(6): + axs[j%3, j//3].grid() + axs[j%3, j//3].legend() +plt.grid() + #######for normal####### + + +#### Draw IMU data +#fig, axs = plt.subplots(2) +#imu=np.loadtxt('imu_pbp.txt') +#time=imu[:,0] +#axs[0].set_title('Gyroscope') +#axs[1].set_title('Accelerameter') +#lab_1 = ['gyr-x', 'gyr-y', 'gyr-z'] +#lab_2 = ['acc-x', 'acc-y', 'acc-z'] +#for i in range(3): + #if i==1: +# axs[0].plot(time, imu[:,i+1],'.-', label=lab_1[i]) +# axs[1].plot(time, imu[:,i+4],'.-', label=lab_2[i]) +#for i in range(2): + #axs[i].set_xlim(386,389) +# axs[i].grid() +# axs[i].legend() +#plt.grid() + +plt.show() diff --git a/src/rm_nav/rm_localization/point_lio/Log/plot_imu.py b/src/rm_nav/rm_localization/point_lio/Log/plot_imu.py new file mode 100755 index 0000000..0177273 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/Log/plot_imu.py @@ -0,0 +1,125 @@ +# import matplotlib +# matplotlib.use('Agg') +import numpy as np +import matplotlib.pyplot as plt + +#### Draw IMU data +fig, axs = plt.subplots(2) +imu=np.loadtxt('imu_pbp.txt') +time=imu[:,0] +axs[0].set_title('Gyroscope') +axs[1].set_title('Accelerameter') +lab_1 = ['gyr-x', 'gyr-y', 'gyr-z'] +lab_2 = ['acc-x', 'acc-y', 'acc-z'] +for i in range(3): + #if i==1: + axs[0].plot(time, imu[:,i+1],'.-', label=lab_1[i]) + axs[1].plot(time, imu[:,i+4],'.-', label=lab_2[i]) +for i in range(2): + #axs[i].set_xlim(386,389) + axs[i].grid() + axs[i].legend() +plt.grid() + +#fig, axs = plt.subplots(5) +#axs[0].set_title('miss') +#axs[1].set_title('miss') +#axs[2].set_title('miss') +#axs[3].set_title('miss') +#axs[4].set_title('miss') +#len_time1 = np.arange(0,1977) +#len_time2 = np.arange(1977, 3954) +#len_time3 = np.arange(3954,5931) +#len_time4 = np.arange(5931,7908) +#len_time5 = np.arange(7908,9885) + #if i==1: +#axs[0].plot(len_time1, time[0:1977],'.-', label='check') +#axs[1].plot(len_time2, time[1977:3954],'.-', label='check') +#axs[2].plot(len_time3, time[3954:5931],'.-', label='check') +#axs[3].plot(len_time4, time[5931:7908],'.-', label='check') +#axs[4].plot(len_time5, time[7908:9885],'.-', label='check') + #axs[i].set_xlim(386,389) +#axs[0].grid() +#axs[0].legend() +#axs[1].grid() +#axs[1].legend() +#axs[2].grid() +#axs[2].legend() +#axs[3].grid() +#axs[3].legend() +#axs[4].grid() +#axs[4].legend() +#plt.grid() + +#fig, axs = plt.subplots(5) +#axs[0].set_title('miss') +#axs[1].set_title('miss') +#axs[2].set_title('miss') +#axs[3].set_title('miss') +#axs[4].set_title('miss') +#len_time1 = np.arange(9885,9885+1977) +#len_time2 = np.arange(9885+1977,9885+3954) +#len_time3 = np.arange(9885+3954,9885+5931) +#len_time4 = np.arange(9885+5931,9885+7908) +#len_time5 = np.arange(9885+7908,9885+9885) + #if i==1: +#axs[0].plot(len_time1, time[9885+0:9885+1977],'.-', label='check') +#axs[1].plot(len_time2, time[9885+1977:9885+3954],'.-', label='check') +#axs[2].plot(len_time3, time[9885+3954:9885+5931],'.-', label='check') +#axs[3].plot(len_time4, time[9885+5931:9885+7908],'.-', label='check') +#axs[4].plot(len_time5, time[9885+7908:9885+9885],'.-', label='check') + #axs[i].set_xlim(386,389) +#axs[0].grid() +#axs[0].legend() +#axs[1].grid() +#axs[1].legend() +#axs[2].grid() +#axs[2].legend() +#axs[3].grid() +#axs[3].legend() +#axs[4].grid() +#axs[4].legend() +#plt.grid() + +# #### Draw time calculation +# plt.figure(3) +# fig = plt.figure() +# font1 = {'family' : 'Times New Roman', +# 'weight' : 'normal', +# 'size' : 12, +# } +# c="red" +# a_out1=np.loadtxt('Log/mat_out_time_indoor1.txt') +# a_out2=np.loadtxt('Log/mat_out_time_indoor2.txt') +# a_out3=np.loadtxt('Log/mat_out_time_outdoor.txt') +# # n = a_out[:,1].size +# # time_mean = a_out[:,1].mean() +# # time_se = a_out[:,1].std() / np.sqrt(n) +# # time_err = a_out[:,1] - time_mean +# # feat_mean = a_out[:,2].mean() +# # feat_err = a_out[:,2] - feat_mean +# # feat_se = a_out[:,2].std() / np.sqrt(n) +# ax1 = fig.add_subplot(111) +# ax1.set_ylabel('Effective Feature Numbers',font1) +# ax1.boxplot(a_out1[:,2], showfliers=False, positions=[0.9]) +# ax1.boxplot(a_out2[:,2], showfliers=False, positions=[1.9]) +# ax1.boxplot(a_out3[:,2], showfliers=False, positions=[2.9]) +# ax1.set_ylim([0, 3000]) + +# ax2 = ax1.twinx() +# ax2.spines['right'].set_color('red') +# ax2.set_ylabel('Compute Time (ms)',font1) +# ax2.yaxis.label.set_color('red') +# ax2.tick_params(axis='y', colors='red') +# ax2.boxplot(a_out1[:,1]*1000, showfliers=False, positions=[1.1],boxprops=dict(color=c),capprops=dict(color=c),whiskerprops=dict(color=c)) +# ax2.boxplot(a_out2[:,1]*1000, showfliers=False, positions=[2.1],boxprops=dict(color=c),capprops=dict(color=c),whiskerprops=dict(color=c)) +# ax2.boxplot(a_out3[:,1]*1000, showfliers=False, positions=[3.1],boxprops=dict(color=c),capprops=dict(color=c),whiskerprops=dict(color=c)) +# ax2.set_xlim([0.5, 3.5]) +# ax2.set_ylim([0, 100]) + +# plt.xticks([1,2,3], ('Outdoor Scene', 'Indoor Scene 1', 'Indoor Scene 2')) +# # # print(time_se) +# # # print(a_out3[:,2]) +# plt.grid() +# plt.savefig("time.pdf", dpi=1200) +plt.show() diff --git a/src/rm_nav/rm_localization/point_lio/Log/plot_out.py b/src/rm_nav/rm_localization/point_lio/Log/plot_out.py new file mode 100755 index 0000000..8dd80cb --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/Log/plot_out.py @@ -0,0 +1,178 @@ +# import matplotlib +# matplotlib.use('Agg') +import numpy as np +import matplotlib.pyplot as plt + +# a_pre=np.loadtxt('mat_pre.txt') +a_out=np.loadtxt('mat_out.txt') +if((a_out.shape[1] != 19) & (a_out.shape[1] != 20)): + ######for ikfom + fig, axs = plt.subplots(4,2) + #lab_pre = ['', 'pre-x', 'pre-y', 'pre-z'] + lab_out = ['', 'out-x', 'out-y', 'out-z'] + plot_ind = range(7,10) + time=a_out[:,0] + axs[0,0].set_title('Attitude') + axs[1,0].set_title('Translation') + axs[2,0].set_title('Velocity') + axs[3,0].set_title('Angular velocity') + axs[0,1].set_title('Acceleration') + axs[1,1].set_title('Gravity') + axs[2,1].set_title('bg') + axs[3,1].set_title('ba') + for i in range(1,4): + for j in range(8): + #axs[j%4, j//4].plot(time, a_pre[:,i+j*3],'.-', label=lab_pre[i]) + axs[j%4, j//4].plot(time, a_out[:,i+j*3],'.-', label=lab_out[i]) + for j in range(8): + # axs[j].set_xlim(386,389) + axs[j%4, j//4].grid() + axs[j%4, j//4].legend() + plt.grid() + ######for ikfom####### +else: + #######for normal####### + fig, axs = plt.subplots(3,2) + lab_pre = ['', 'pre-x', 'pre-y', 'pre-z'] + lab_out = ['', 'out-x', 'out-y', 'out-z'] + plot_ind = range(7,10) + time=a_out[:,0] + time1 = a_pre[:,0] + axs[0,0].set_title('Attitude') + axs[1,0].set_title('Translation') + axs[2,0].set_title('Velocity') + axs[0,1].set_title('bg') + axs[1,1].set_title('ba') + axs[2,1].set_title('Gravity') + for i in range(1,4): + for j in range(6): + axs[j%3, j/3].plot(time1, a_pre[:,i+j*3],'.-', label=lab_pre[i]) + axs[j%3, j/3].plot(time, a_out[:,i+j*3],'.-', label=lab_out[i]) + for j in range(6): + # axs[j].set_xlim(386,389) + axs[j%3, j//3].grid() + axs[j%3, j//3].legend() + plt.grid() + #######for normal####### + + +#### Draw IMU data +fig, axs = plt.subplots(2) +imu=np.loadtxt('imu_pbp.txt') +time=imu[:,0] +axs[0].set_title('Gyroscope') +axs[1].set_title('Accelerameter') +lab_1 = ['gyr-x', 'gyr-y', 'gyr-z'] +lab_2 = ['acc-x', 'acc-y', 'acc-z'] +for i in range(3): + #if i==1: + axs[0].plot(time, imu[:,i+1],'.-', label=lab_1[i]) + axs[1].plot(time, imu[:,i+4],'.-', label=lab_2[i]) +for i in range(2): + #axs[i].set_xlim(386,389) + axs[i].grid() + axs[i].legend() +plt.grid() + +#fig, axs = plt.subplots(5) +#axs[0].set_title('miss') +#axs[1].set_title('miss') +#axs[2].set_title('miss') +#axs[3].set_title('miss') +#axs[4].set_title('miss') +#len_time1 = np.arange(0,1977) +#len_time2 = np.arange(1977, 3954) +#len_time3 = np.arange(3954,5931) +#len_time4 = np.arange(5931,7908) +#len_time5 = np.arange(7908,9885) + #if i==1: +#axs[0].plot(len_time1, time[0:1977],'.-', label='check') +#axs[1].plot(len_time2, time[1977:3954],'.-', label='check') +#axs[2].plot(len_time3, time[3954:5931],'.-', label='check') +#axs[3].plot(len_time4, time[5931:7908],'.-', label='check') +#axs[4].plot(len_time5, time[7908:9885],'.-', label='check') + #axs[i].set_xlim(386,389) +#axs[0].grid() +#axs[0].legend() +#axs[1].grid() +#axs[1].legend() +#axs[2].grid() +#axs[2].legend() +#axs[3].grid() +#axs[3].legend() +#axs[4].grid() +#axs[4].legend() +#plt.grid() + +#fig, axs = plt.subplots(5) +#axs[0].set_title('miss') +#axs[1].set_title('miss') +#axs[2].set_title('miss') +#axs[3].set_title('miss') +#axs[4].set_title('miss') +#len_time1 = np.arange(9885,9885+1977) +#len_time2 = np.arange(9885+1977,9885+3954) +#len_time3 = np.arange(9885+3954,9885+5931) +#len_time4 = np.arange(9885+5931,9885+7908) +#len_time5 = np.arange(9885+7908,9885+9885) + #if i==1: +#axs[0].plot(len_time1, time[9885+0:9885+1977],'.-', label='check') +#axs[1].plot(len_time2, time[9885+1977:9885+3954],'.-', label='check') +#axs[2].plot(len_time3, time[9885+3954:9885+5931],'.-', label='check') +#axs[3].plot(len_time4, time[9885+5931:9885+7908],'.-', label='check') +#axs[4].plot(len_time5, time[9885+7908:9885+9885],'.-', label='check') + #axs[i].set_xlim(386,389) +#axs[0].grid() +#axs[0].legend() +#axs[1].grid() +#axs[1].legend() +#axs[2].grid() +#axs[2].legend() +#axs[3].grid() +#axs[3].legend() +#axs[4].grid() +#axs[4].legend() +#plt.grid() + +# #### Draw time calculation +# plt.figure(3) +# fig = plt.figure() +# font1 = {'family' : 'Times New Roman', +# 'weight' : 'normal', +# 'size' : 12, +# } +# c="red" +# a_out1=np.loadtxt('Log/mat_out_time_indoor1.txt') +# a_out2=np.loadtxt('Log/mat_out_time_indoor2.txt') +# a_out3=np.loadtxt('Log/mat_out_time_outdoor.txt') +# # n = a_out[:,1].size +# # time_mean = a_out[:,1].mean() +# # time_se = a_out[:,1].std() / np.sqrt(n) +# # time_err = a_out[:,1] - time_mean +# # feat_mean = a_out[:,2].mean() +# # feat_err = a_out[:,2] - feat_mean +# # feat_se = a_out[:,2].std() / np.sqrt(n) +# ax1 = fig.add_subplot(111) +# ax1.set_ylabel('Effective Feature Numbers',font1) +# ax1.boxplot(a_out1[:,2], showfliers=False, positions=[0.9]) +# ax1.boxplot(a_out2[:,2], showfliers=False, positions=[1.9]) +# ax1.boxplot(a_out3[:,2], showfliers=False, positions=[2.9]) +# ax1.set_ylim([0, 3000]) + +# ax2 = ax1.twinx() +# ax2.spines['right'].set_color('red') +# ax2.set_ylabel('Compute Time (ms)',font1) +# ax2.yaxis.label.set_color('red') +# ax2.tick_params(axis='y', colors='red') +# ax2.boxplot(a_out1[:,1]*1000, showfliers=False, positions=[1.1],boxprops=dict(color=c),capprops=dict(color=c),whiskerprops=dict(color=c)) +# ax2.boxplot(a_out2[:,1]*1000, showfliers=False, positions=[2.1],boxprops=dict(color=c),capprops=dict(color=c),whiskerprops=dict(color=c)) +# ax2.boxplot(a_out3[:,1]*1000, showfliers=False, positions=[3.1],boxprops=dict(color=c),capprops=dict(color=c),whiskerprops=dict(color=c)) +# ax2.set_xlim([0.5, 3.5]) +# ax2.set_ylim([0, 100]) + +# plt.xticks([1,2,3], ('Outdoor Scene', 'Indoor Scene 1', 'Indoor Scene 2')) +# # # print(time_se) +# # # print(a_out3[:,2]) +# plt.grid() +# plt.savefig("time.pdf", dpi=1200) +plt.show() diff --git a/src/rm_nav/rm_localization/point_lio/Log/plot_rtk.py b/src/rm_nav/rm_localization/point_lio/Log/plot_rtk.py new file mode 100755 index 0000000..a08e122 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/Log/plot_rtk.py @@ -0,0 +1,38 @@ +import numpy as np +import matplotlib.pyplot as plt + +a_grdt=np.loadtxt('pos_rtk.txt') +a_out=np.loadtxt('mat_out.txt') +#######for normal####### +fig, axs = plt.subplots(3,1) +lab_grdt = ['', 'gt-x', 'gt-y', 'gt-z'] +lab_out = ['', 'out-x', 'out-y', 'out-z'] +plot_ind = range(7,10) +time=a_out[:,0] +time1 = a_grdt[:,0] +axs[0].set_title('East [m]') +axs[1].set_title('North [m]') +axs[2].set_title('Up [m]') +for i in range(1,4): + axs[i-1].plot(time1, a_grdt[:,i],'.-', label=lab_grdt[i]) + axs[i-1].plot(time, a_out[:,i+3],'.-', label=lab_out[i]) +for j in range(1,4): + axs[j-1].grid() + axs[j-1].legend() +plt.grid() +#######for normal####### + +fig, axs = plt.subplots(2,1) +axs[0].set_title('clock drift') +lab_1 = ['dt-g', 'dt-r', 'dt-e', 'dt-c'] +for i in range(3): + #if i==1: + axs[0].plot(time, a_out[:,i+13],'.-', label=lab_1[i]) +axs[0].plot(time, a_out[:,19],'.-', label=lab_1[3]) +for i in range(1): + #axs[i].set_xlim(386,389) + axs[i].grid() + axs[i].legend() +plt.grid() + +plt.show() diff --git a/src/rm_nav/rm_localization/point_lio/Log/pos_log.txt b/src/rm_nav/rm_localization/point_lio/Log/pos_log.txt new file mode 100644 index 0000000..e69de29 diff --git a/src/rm_nav/rm_localization/point_lio/Log/pos_rtk.txt b/src/rm_nav/rm_localization/point_lio/Log/pos_rtk.txt new file mode 100644 index 0000000..74e0dbd --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/Log/pos_rtk.txt @@ -0,0 +1,13978 @@ + 0 0 0 0 + 0.0999999 0.0102959 -0.0221475 -0.048 + 0.2 0.0308878 -0.0332213 -0.064 + 0.3 0.0308878 -0.0221475 -0.079 + 0.4 0.0617756 -0.0332213 -0.134 + 0.5 0.0617756 -0.0664426 -0.1 + 0.6 0.0720715 -0.0775163 -0.11 + 0.7 0.0617756 -0.0775163 -0.079 + 0.8 0.0823674 -0.0996639 -0.076 + 0.9 0.0823674 -0.0996639 -0.139 + 1 0.0926633 -0.0996639 -0.136 + 1.1 0.0926633 -0.0996639 -0.135 + 1.2 0.0823674 -0.0996639 -0.136 + 1.3 0.0823674 -0.110738 -0.155 + 1.4 0.0720715 -0.121811 -0.118 + 1.5 0.0617756 -0.121811 -0.109 + 1.6 0.0720715 -0.132885 -0.112 + 1.7 0.0720715 -0.166106 -0.065 + 1.8 0.0411837 -0.166106 -0.023 + 1.9 0.0617756 -0.166106 -0.054 + 2 0.0720715 -0.188254 -0.047 + 2.1 0.0720715 -0.188254 -0.062 + 2.2 0.0823674 -0.199328 -0.07 + 2.3 0.0720715 -0.17718 -0.107 + 2.4 0.0617756 -0.17718 -0.104 + 2.5 0.0926633 -0.188254 -0.146 + 2.6 0.133847 -0.17718 -0.24 + 2.7 0.144143 -0.166106 -0.303 + 2.8 0.144143 -0.166106 -0.262 + 2.9 0.154439 -0.166106 -0.32 + 3 0.185327 -0.199328 -0.301 + 3.1 0.175031 -0.188254 -0.321 + 3.2 0.205919 -0.221475 -0.328 + 3.3 0.195623 -0.221475 -0.302 + 3.4 0.175031 -0.232549 -0.248 + 3.5 0.236806 -0.221475 -0.425 + 3.6 0.22651 -0.232549 -0.373 + 3.7 0.247102 -0.254697 -0.364 + 3.8 0.257398 -0.243623 -0.404 + 3.9 0.267694 -0.26577 -0.397 + 4 0.267694 -0.254697 -0.473 + 4.1 0.308878 -0.276844 -0.482 + 4.2 0.308878 -0.26577 -0.523 + 4.3 0.350061 -0.26577 -0.604 + 4.4 0.360357 -0.276844 -0.634 + 4.5 0.370653 -0.254697 -0.691 + 4.6 0.463317 -0.254696 -0.866 + 4.7 0.5045 -0.232549 -0.957 + 4.8 0.5045 -0.210401 -1.049 + 4.9 0.535388 -0.221475 -1.112 + 5 0.576572 -0.210401 -1.158 + 5.1 0.60746 -0.243623 -1.19 + 5.2 0.617756 -0.243623 -1.196 + 5.3 0.638347 -0.243623 -1.263 + 5.4 0.648643 -0.26577 -1.266 + 5.5 0.669235 -0.310065 -1.233 + 5.6 0.689827 -0.298992 -1.308 + 5.7 0.720715 -0.321139 -1.317 + 5.8 0.700123 -0.321139 -1.294 + 5.9 0.741307 -0.332213 -1.371 + 6 0.803082 -0.310065 -1.512 + 6.1 0.803082 -0.321139 -1.495 + 6.2 0.823674 -0.321139 -1.578 + 6.3 0.854562 -0.343287 -1.596 + 6.4 0.895745 -0.321139 -1.699 + 6.5 0.906041 -0.343287 -1.715 + 6.6 0.947225 -0.321139 -1.851 + 6.7 0.967817 -0.310065 -1.906 + 6.8 1.0193 -0.321139 -1.962 + 6.9 1.05018 -0.310065 -2.08 + 7 1.05018 -0.321139 -2.045 + 7.1 1.08107 -0.321139 -2.094 + 7.2 1.10166 -0.332213 -2.124 + 7.3 1.12226 -0.321139 -2.211 + 7.4 1.16344 -0.332213 -2.262 + 7.5 1.17374 -0.321139 -2.305 + 7.6 1.20462 -0.321139 -2.367 + 7.7 1.2561 -0.298991 -2.513 + 7.8 1.24581 -0.310065 -2.49 + 7.9 1.29729 -0.321139 -2.549 + 8 1.30758 -0.310065 -2.592 + 8.1 1.32817 -0.310065 -2.647 + 8.2 1.36936 -0.321139 -2.705 + 8.3 1.35906 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--- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/README.md @@ -0,0 +1,195 @@ +# Point-LIO +## Point-LIO: Robust High-Bandwidth Lidar-Inertial Odometry + +## 1. Introduction + +
+
+ +
+ The framework and key points of the Point-LIO. +
+ +**Point-LIO** is a robust and high-bandwidth LiDAR-inertial odometry with the capability to estimate extremely aggressive robotic motions. Point-LIO has two key novelties that enable a high-bandwidth LiDAR-inertial odometry (LIO). The first one is a point-by-point LIO framework, where the state is updated at each LiDAR point measurement without accumulating them into a frame. This point-by-point update allows an extremely high-frequency odometry output, significantly increases the odometry bandwidth, and also fundamentally removes the artificial in-frame motion distortion in aggressive motions. The second main novelty is a stochastic process-augmented kinematic model which models the IMU measurements as an output, instead of input as in existing filter-based odometry or SLAM systems, of the model. This new modeling method enables accurate localization and reliable mapping for aggressive motions even when IMU measurements are saturated. In experiments, Point-LIO is able to provide accurate, high-frequency odometry (4-8 kHz) and reliable mapping under severe vibrations and aggressive motions with high angular velocity (75 rad s^{-1}) beyond the IMU measuring ranges. And Point-LIO is computationally efficient, robust, versatile on public datasets with general motions. As an odometry, Point-LIO could be used in various autonomous tasks, such as trajectory planning, control, and perception, especially in cases involving very fast ego-motions (e.g., in the presence of severe vibration and high angular or linear velocity) or requiring high-rate odometry output and mapping (e.g., for high-rate feedback control and perception). + +## **1.1. Developers:** +The codes of this repo are contributed by: +[Dongjiao He (贺东娇)](https://github.com/Joanna-HE) and [Wei Xu (徐威)](https://github.com/XW-HKU) + + +## **1.2. Related paper** +Our paper is accepted to Advanced Intelligent Systems(AIS), and is in the process of production. The preprint version is attached here, [Point-LIO_preprint.pdf](https://github.com/hku-mars/Point-LIO/files/10989136/Point-LIO_preprint.pdf) + + +## **1.3. Related video** +Our accompany video is available on **YouTube**. +
+ +
+ +## 2. What can Point-LIO do? +### 2.1 Simultaneous LiDAR localization and mapping (SLAM) without motion distortion + +### 2.2 Produce high odometry output frequence and high bandwidth + +### 2.3 SLAM with aggressive motions even the IMU is saturated + +# **3. Prerequisites** + +## **3.1 Ubuntu and [ROS](https://www.ros.org/)** +We tested our code on Ubuntu18.04 with ros melodic and Ubuntu20.04 with noetic. Additional ROS package is required: +``` +sudo apt-get install ros-xxx-pcl-conversions +``` + +## **3.2 Eigen** +Following the official [Eigen installation](eigen.tuxfamily.org/index.php?title=Main_Page), or directly install Eigen by: +``` +sudo apt-get install libeigen3-dev +``` + +## **3.3 livox_ros_driver2** +Follow [livox_ros_driver2 Installation](https://github.com/Livox-SDK/livox_ros_driver2). + +*Remarks:* +- Since the Point-LIO supports Livox serials LiDAR, so the **livox_ros_driver2** must be installed and **sourced** before run any Point-LIO luanch file. +- How to source? The easiest way is add the line ``` source $Licox_ros_driver2_dir$/install/setup.sh ``` to the end of file ``` ~/.bashrc ```, where ``` $Livox_ros_driver2_dir$ ``` is the directory of the livox ros driver workspace (should be the ``` ws_livox ``` directory if you completely followed the livox official document). + +## 4. Build +Clone the repository and colcon_build: + +``` + cd ~/$A_ROS_DIR$/src + git clone https://github.com/hku-mars/Point-LIO.git + cd Point-LIO + cd ../.. + colcon build --symlink-install + source install/setup.sh +``` +- Remember to source the livox_ros_driver2 before build (follow 3.3 **livox_ros_driver2**) +- If you want to use a custom build of PCL, add the following line to ~/.bashrc +```export PCL_ROOT={CUSTOM_PCL_PATH}``` + +## 5. Directly run +Important notes: + +A. Please make sure the IMU and LiDAR are **Synchronized**, that's important. + +B. Please obtain the saturation values of your used IMU (i.e., accelerator and gyroscope), and the units of the accelerator of your used IMU, then modify the .yaml file according to those settings. That's improtant. + +C. The warning message "Failed to find match for field 'time'." means the timestamps of each LiDAR points are missed in the rosbag file. That is important because Point-LIO processes at the sampling time of each LiDAR point. + +D. We recommend to set the **extrinsic_est_en** to false if the extrinsic is give. As for the extrinsic initiallization, please refer to our recent work: [**Robust and Online LiDAR-inertial Initialization**](https://github.com/hku-mars/LiDAR_IMU_Init). + +E. If a high odometry output frequency without downsample is required, set ``` publish_odometry_without_downsample ``` as true. Then the warning message of tf "TF_REPEATED_DATA" will pop up in the terminal window, because the time interval between two publish odometery is too small. The following command could be used to suppress this warning to a smaller frequency: + +in your ros_ws/src, + +git clone --branch throttle-tf-repeated-data-error git@github.com:BadgerTechnologies/geometry2.git + +Then rebuild, source setup.bash, run and then it should be reduced down to once every 10 seconds. If 10 seconds is still too much log output then change the ros::Duration(10.0) to 10000 seconds or whatever you like. + +### 5.1 For Mid360 + +Connect to your PC to Livox Mid360 LiDAR by following [Livox-ros-driver2 installation](https://github.com/Livox-SDK/livox_ros_driver2), then + +```sh + cd ~/$Point_LIO_ROS_DIR$ + source devel/setup.sh + ros2 launch point_lio mapping_mid360.launch.py + ros2 launch livox_ros_driver2 msg_MID360_launch.py +``` + +- For livox serials, Point-LIO only support the data collected by the ``` msg_MID360_launch.py ``` since only its ``` livox_ros_driver2/msg/custom_msg ``` data structure produces the timestamp of each LiDAR point which is very important for Point-LIO. ``` rviz_MID360_launch.py ``` can not produce it right now. + +- If you want to change the frame rate, please modify the **publish_freq** parameter in the [msg_MID360_launch.py](https://github.com/Livox-SDK/livox_ros_driver2/blob/master/launch_ROS2/msg_MID360_launch.py) of [Livox-ros-driver2](https://github.com/Livox-SDK/livox_ros_driver2) before make the livox_ros_driver2 pakage. + +### 5.2 For Avia + +As avia's Livox driver is `livox_ros2_driver`, not `livox_ros_driver2`, you need to do as follows. + +1. Follow the [Livox official tutorial](https://github.com/Livox-SDK/livox_ros_driver2/blob/master/README.md) to install `livox_ros2_driver` first. +2. Then, you will need to modify the content in the `point_lio` source code by replacing `livox_ros_driver2::msg::CustomMsg` with `livox_ros2_driver::msg::CustomMsg` and replacing `` with ``. + +Connect to your PC to Livox Avia LiDAR by following [Livox-ros2-driver installation](https://github.com/Livox-SDK/livox_ros2_driver), then + +```sh + cd ~/$Point_LIO_ROS_DIR$ + source install/setup.sh + ros2 launch point_lio mapping_avia.launch.py + ros2 launch livox_ros2_driver livox_lidar_msg_launch.py +``` + +### 5.3 For Livox serials with external IMU + +mapping_avia.launch theratically supports mid-70, mid-40 or other livox serial LiDAR, but need to setup some parameters befor run: + +Edit ``` config/avia.yaml ``` to set the below parameters: + +1. LiDAR point cloud topic name: ``` lid_topic ``` +2. IMU topic name: ``` imu_topic ``` +3. Translational extrinsic: ``` extrinsic_T ``` +4. Rotational extrinsic: ``` extrinsic_R ``` (only support rotation matrix) +- The extrinsic parameters in Point-LIO is defined as the LiDAR's pose (position and rotation matrix) in IMU body frame (i.e. the IMU is the base frame). They can be found in the official manual. +5. Saturation value of IMU's accelerator and gyroscope: ```satu_acc```, ```satu_gyro``` +6. The norm of IMU's acceleration according to unit of acceleration messages: ``` acc_norm ``` + +### 5.4 For Velodyne or Ouster (Velodyne as an example) + +Step A: Setup before run + +Edit ``` config/velodyne.yaml ``` to set the below parameters: + +1. LiDAR point cloud topic name: ``` lid_topic ``` +2. IMU topic name: ``` imu_topic ``` (both internal and external, 6-aixes or 9-axies are fine) +3. Set the parameter ```timestamp_unit``` based on the unit of **time** (Velodyne) or **t** (Ouster) field in PoindCloud2 rostopic +4. Line number (we tested 16, 32 and 64 line, but not tested 128 or above): ``` scan_line ``` +5. Translational extrinsic: ``` extrinsic_T ``` +6. Rotational extrinsic: ``` extrinsic_R ``` (only support rotation matrix) +- The extrinsic parameters in Point-LIO is defined as the LiDAR's pose (position and rotation matrix) in IMU body frame (i.e. the IMU is the base frame). +7. Saturation value of IMU's accelerator and gyroscope: ```satu_acc```, ```satu_gyro``` +8. The norm of IMU's acceleration according to unit of acceleration messages: ``` acc_norm ``` + +Step B: Run below + +```sh + cd ~/$Point_LIO_ROS_DIR$ + source install/setup.sh + ros2 launch point_lio mapping_velody16.launch.py +``` + +Step C: Run LiDAR's ros driver or play rosbag. + +### 5.5 PCD file save + +Set ``` pcd_save_enable ``` in launchfile to ``` 1 ```. All the scans (in global frame) will be accumulated and saved to the file ``` Point-LIO/PCD/scans.pcd ``` after the Point-LIO is terminated. ```pcl_viewer scans.pcd``` can visualize the point clouds. + +*Tips for pcl_viewer:* +- change what to visualize/color by pressing keyboard 1,2,3,4,5 when pcl_viewer is running. + +``` + 1 is all random + 2 is X values + 3 is Y values + 4 is Z values + 5 is intensity +``` + +# **6. Examples** + +## **6.1. Example-1: SLAM on datasets with aggressive motions where IMU is saturated** +
+ + +
+ +## **6.2. Example-2: Application on FPV and PULSAR** +
+ + +
+ +PULSAR is a self-rotating actuated by only one motor, [PULSAR](https://github.com/hku-mars/PULSAR) + +## 7. Contact us +If you have any questions about this work, please feel free to contact me and Dr. Fu Zhang via email. diff --git a/src/rm_nav/rm_localization/point_lio/config/avia.yaml b/src/rm_nav/rm_localization/point_lio/config/avia.yaml new file mode 100755 index 0000000..d0afe23 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/config/avia.yaml @@ -0,0 +1,56 @@ +/**: + ros__parameters: + common: + lid_topic: "/livox/lidar" + imu_topic: "/livox/imu" + con_frame: false # true: if you need to combine several LiDAR frames into one + con_frame_num: 1 # the number of frames combined + cut_frame: false # true: if you need to cut one LiDAR frame into several subframes + cut_frame_time_interval: 0.1 # should be integral fraction of 1 / LiDAR frequency + time_diff_lidar_to_imu: 0.0 # Time offset between LiDAR and IMU calibrated by other algorithms, e.g., LI-Init (find in Readme) + + preprocess: + lidar_type: 1 # 4 + scan_line: 6 # 32 + timestamp_unit: 1 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond. + blind: 0.5 + + mapping: + imu_en: true + extrinsic_est_en: false # for aggressive motion, set this variable false + imu_time_inte: 0.005 # = 1 / frequency of IMU + lidar_time_inte: 0.1 + satu_acc: 3.0 # the saturation value of IMU's acceleration. not related to the units + satu_gyro: 35.0 # the saturation value of IMU's angular velocity. not related to the units + acc_norm: 1.0 # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration + lidar_meas_cov: 0.01 # 0.001; 0.01 + acc_cov_output: 500.0 + gyr_cov_output: 1000.0 + b_acc_cov: 0.0001 + b_gyr_cov: 0.0001 + imu_meas_acc_cov: 0.1 #0.1 # 0.1 + imu_meas_omg_cov: 0.1 #0.01 # 0.1 + gyr_cov_input: 0.01 # for IMU as input model + acc_cov_input: 0.1 # for IMU as input model + plane_thr: 0.1 # 0.05, the threshold for plane criteria, the smaller, the flatter a plane + match_s: 81.0 + ivox_grid_resolution: 2.0 + gravity: [ 0.0, 0.0, -9.810 ] # [0.0, 9.810, 0.0] # # [0.0, 0.0, -9.787561] # gvins # + gravity_init: [ 0.0, 0.0, -9.810 ] # preknown gravity for unstationary start in the initial IMU frame + extrinsic_T: [ 0.04165, 0.02326, -0.0284 ] # avia # [0.011, 0.02329, -0.04412] # mid360 + extrinsic_R: [ 1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0 ] + + odometry: + publish_odometry_without_downsample: false + + publish: + path_en: true # false: close the path output + scan_publish_en: true # false: close all the point cloud output + scan_bodyframe_pub_en: false # true: output the point cloud scans in IMU-body-frame + + pcd_save: + pcd_save_en: false + interval: -1 # how many LiDAR frames saved in each pcd file; + # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. \ No newline at end of file diff --git a/src/rm_nav/rm_localization/point_lio/config/horizon.yaml b/src/rm_nav/rm_localization/point_lio/config/horizon.yaml new file mode 100755 index 0000000..230c863 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/config/horizon.yaml @@ -0,0 +1,55 @@ +/**: + ros__parameters: + common: + lid_topic: "/livox/lidar" + imu_topic: "/livox/imu" + con_frame: false # true: if you need to combine several LiDAR frames into one + con_frame_num: 1 # the number of frames combined + cut_frame: false # true: if you need to cut one LiDAR frame into several subframes + cut_frame_time_interval: 0.1 # should be integral fraction of 1 / LiDAR frequency + time_diff_lidar_to_imu: 0.0 # Time offset between LiDAR and IMU calibrated by other algorithms, e.g., LI-Init (find in Readme) + + preprocess: + lidar_type: 1 + scan_line: 6 + timestamp_unit: 1 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond. + blind: 4.0 + + mapping: + imu_en: true + extrinsic_est_en: false # for aggressive motion, set this variable false + imu_time_inte: 0.005 # = 1 / frequency of IMU + lidar_time_inte: 0.1 + satu_acc: 3.0 # the saturation value of IMU's acceleration. not related to the units + satu_gyro: 35.0 # the saturation value of IMU's angular velocity. not related to the units + acc_norm: 1.0 # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration + lidar_meas_cov: 0.01 # 0.001 + acc_cov_output: 500.0 + gyr_cov_output: 1000.0 + b_acc_cov: 0.0001 + b_gyr_cov: 0.0001 + imu_meas_acc_cov: 0.01 #0.1 # 2 + imu_meas_omg_cov: 0.01 #0.1 # 2 + gyr_cov_input: 0.01 # for IMU as input model + acc_cov_input: 0.1 # for IMU as input model + plane_thr: 0.1 # 0.05, the threshold for plane criteria, the smaller, the flatter a plane + match_s: 81.0 + ivox_grid_resolution: 2.0 + gravity: [0.0, 0.0, -9.810] # preknown gravity, use when imu_en is false or start from a non-stationary state + extrinsic_T: [ 0.05512, 0.02226, -0.0297 ] + extrinsic_R: [ 1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0 ] + + odometry: + publish_odometry_without_downsample: false + + publish: + path_en: true # false: close the path output + scan_publish_en: true # false: close all the point cloud output + scan_bodyframe_pub_en: false # true: output the point cloud scans in IMU-body-frame + + pcd_save: + pcd_save_en: false + interval: -1 # how many LiDAR frames saved in each pcd file; + # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. \ No newline at end of file diff --git a/src/rm_nav/rm_localization/point_lio/config/mid360.yaml b/src/rm_nav/rm_localization/point_lio/config/mid360.yaml new file mode 100755 index 0000000..f1a8186 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/config/mid360.yaml @@ -0,0 +1,58 @@ +/**: + ros__parameters: + common: + lid_topic: "/livox/lidar" + imu_topic: "/livox/imu" + con_frame: false # true: if you need to combine several LiDAR frames into one + con_frame_num: 1 # the number of frames combined + cut_frame: false # true: if you need to cut one LiDAR frame into several subframes + cut_frame_time_interval: 0.1 # should be integral fraction of 1 / LiDAR frequency + time_diff_lidar_to_imu: 0.0 # Time offset between LiDAR and IMU calibrated by other algorithms, e.g., LI-Init (find in Readme) + + preprocess: + lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR + scan_line: 4 + timestamp_unit: 3 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond. + blind: 0.5 + + mapping: + imu_en: true + start_in_aggressive_motion: false # if true, a preknown gravity should be provided in following gravity_init + extrinsic_est_en: false # for aggressive motion, set this variable false + imu_time_inte: 0.005 # = 1 / frequency of IMU + satu_acc: 3.0 # the saturation value of IMU's acceleration. not related to the units + satu_gyro: 35.0 # the saturation value of IMU's angular velocity. not related to the units + acc_norm: 1.0 # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration + lidar_meas_cov: 0.01 # 0.001 + acc_cov_output: 500.0 + gyr_cov_output: 1000.0 + b_acc_cov: 0.0001 + b_gyr_cov: 0.0001 + imu_meas_acc_cov: 0.01 #0.1 # 2 + imu_meas_omg_cov: 0.01 #0.1 # 2 + gyr_cov_input: 0.01 # for IMU as input model + acc_cov_input: 0.1 # for IMU as input model + plane_thr: 0.1 # 0.05, the threshold for plane criteria, the smaller, the flatter a plane + match_s: 81.0 + fov_degree: 360.0 + det_range: 100.0 + gravity_align: true # true to align the z axis of world frame with the direction of gravity, and the gravity direction should be specified below + gravity: [ 0.0, 0.0, -9.810 ] # [0.0, 9.810, 0.0] # gravity to be aligned + gravity_init: [ 0.0, 0.0, -9.810 ] # [0.0, 9.810, 0.0] # # preknown gravity in the first IMU body frame, use when imu_en is false or start from a non-stationary state + extrinsic_T: [ -0.011, -0.02329, 0.04412 ] + extrinsic_R: [ 1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0 ] + + odometry: + publish_odometry_without_downsample: false + + publish: + path_en: true # false: close the path output + scan_publish_en: true # false: close all the point cloud output + scan_bodyframe_pub_en: false # true: output the point cloud scans in IMU-body-frame + + pcd_save: + pcd_save_en: false + interval: -1 # how many LiDAR frames saved in each pcd file; + # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. \ No newline at end of file diff --git a/src/rm_nav/rm_localization/point_lio/config/ouster64.yaml b/src/rm_nav/rm_localization/point_lio/config/ouster64.yaml new file mode 100755 index 0000000..9a6dff4 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/config/ouster64.yaml @@ -0,0 +1,55 @@ +/**: + ros__parameters: + common: + lid_topic: "/os_cloud_node/points" + imu_topic: "/os_cloud_node/imu" + con_frame: false # true: if you need to combine several LiDAR frames into one + con_frame_num: 1 # the number of frames combined + cut_frame: false # true: if you need to cut one LiDAR frame into several subframes + cut_frame_time_interval: 0.1 # should be integral fraction of 1 / LiDAR frequency + time_diff_lidar_to_imu: 0.0 # Time offset between LiDAR and IMU calibrated by other algorithms, e.g., LI-Init (find in Readme) + + preprocess: + lidar_type: 3 # 2 #velodyne # 1 Livox Avia LiDAR + scan_line: 64 # 32 #velodyne 6 avia + timestamp_unit: 3 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond. + blind: 4.0 + + mapping: + imu_en: true + extrinsic_est_en: false # for aggressive motion, set this variable false + imu_time_inte: 0.01 # = 1 / frequency of IMU + lidar_time_inte: 0.1 + satu_acc: 30.0 # the saturation value of IMU's acceleration. not related to the units + satu_gyro: 35.0 # the saturation value of IMU's angular velocity. not related to the units + acc_norm: 9.81 # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration + lidar_meas_cov: 0.01 # 0.001 + acc_cov_output: 500.0 + gyr_cov_output: 1000.0 + b_acc_cov: 0.0001 + b_gyr_cov: 0.0001 + imu_meas_acc_cov: 0.1 #0.1 # 2 + imu_meas_omg_cov: 0.1 #0.1 # 2 + gyr_cov_input: 0.01 # for IMU as input model + acc_cov_input: 0.1 # for IMU as input model + plane_thr: 0.1 # 0.05, the threshold for plane criteria, the smaller, the flatter a plane + match_s: 81.0 + ivox_grid_resolution: 2.0 + gravity_init: [ 0.0, 0.0, -9.810 ] # [0.0, 9.810, 0.0] # # preknown gravity in the first IMU body frame, use when imu_en is false or start from a non-stationary state + extrinsic_T: [ 0.0, 0.0, 0.0 ] + extrinsic_R: [ 1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0 ] + + odometry: + publish_odometry_without_downsample: false + + publish: + path_en: true # false: close the path output + scan_publish_en: true # false: close all the point cloud output + scan_bodyframe_pub_en: false # true: output the point cloud scans in IMU-body-frame + + pcd_save: + pcd_save_en: false + interval: -1 # how many LiDAR frames saved in each pcd file; + # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. \ No newline at end of file diff --git a/src/rm_nav/rm_localization/point_lio/config/velody16.yaml b/src/rm_nav/rm_localization/point_lio/config/velody16.yaml new file mode 100755 index 0000000..943e211 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/config/velody16.yaml @@ -0,0 +1,61 @@ +/**: + ros__parameters: + common: + lid_topic: "/velodyne_points" + imu_topic: "/imu/data" + con_frame: false # true: if you need to combine several LiDAR frames into one + con_frame_num: 1 # the number of frames combined + cut_frame: false # true: if you need to cut one LiDAR frame into several subframes + cut_frame_time_interval: 0.1 # should be integral fraction of 1 / LiDAR frequency + time_diff_lidar_to_imu: 0.0 # Time offset between LiDAR and IMU calibrated by other algorithms, e.g., LI-Init (find in Readme) + + preprocess: + lidar_type: 2 + scan_line: 32 + timestamp_unit: 2 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond. + blind: 2.0 + + mapping: + imu_en: true + extrinsic_est_en: false # for aggressive motion, set this variable false + imu_time_inte: 0.01 # = 1 / frequency of IMU + lidar_time_inte: 0.1 + satu_acc: 30.0 # the saturation value of IMU's acceleration. not related to the units + satu_gyro: 35.0 # the saturation value of IMU's angular velocity. not related to the units + acc_norm: 9.81 # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration + lidar_meas_cov: 0.01 # 0.001 + acc_cov_output: 500.0 + gyr_cov_output: 1000.0 + b_acc_cov: 0.0001 + b_gyr_cov: 0.0001 + imu_meas_acc_cov: 0.1 #0.1 # 2 + imu_meas_omg_cov: 0.1 #0.1 # 2 + gyr_cov_input: 0.01 # for IMU as input model + acc_cov_input: 0.1 # for IMU as input model + plane_thr: 0.1 # 0.05, the threshold for plane criteria, the smaller, the flatter a plane + match_s: 81.0 + ivox_grid_resolution: 2.0 + gravity: [ 0.0, 0.0, -9.810 ] # [0.0, 9.810, 0.0] # gravity to be aligned + extrinsic_T: [ 0.0, 0.0, 0.28 ] # ulhk # [-0.5, 1.4, 1.5] # utbm + # extrinsic_R: [ 0, 1, 0, + # -1, 0, 0, + # 0, 0, 1 ] # ulhk 5 6 + # extrinsic_R: [ 0, -1, 0, + # 1, 0, 0, + # 0, 0, 1 ] # utbm 1, 2 + extrinsic_R: [ 1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0 ] # ulhk 4 utbm 3 + + odometry: + publish_odometry_without_downsample: false + + publish: + path_en: true # false: close the path output + scan_publish_en: true # false: close all the point cloud output + scan_bodyframe_pub_en: false # true: output the point cloud scans in IMU-body-frame + + pcd_save: + pcd_save_en: false + interval: -1 # how many LiDAR frames saved in each pcd file; + # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. \ No newline at end of file diff --git a/src/rm_nav/rm_localization/point_lio/include/IKFoM/.gitignore b/src/rm_nav/rm_localization/point_lio/include/IKFoM/.gitignore new file mode 100644 index 0000000..259148f --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/IKFoM/.gitignore @@ -0,0 +1,32 @@ +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app diff --git a/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/esekfom/esekfom.hpp b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/esekfom/esekfom.hpp new file mode 100755 index 0000000..059b433 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/esekfom/esekfom.hpp @@ -0,0 +1,344 @@ +/* + * Copyright (c) 2019--2023, The University of Hong Kong + * All rights reserved. + * + * Author: Dongjiao HE + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef ESEKFOM_EKF_HPP +#define ESEKFOM_EKF_HPP + + +#include +#include + +#include +#include +#include +#include +#include +#include + +#include "../mtk/types/vect.hpp" +#include "../mtk/types/SOn.hpp" +#include "../mtk/types/S2.hpp" +#include "../mtk/types/SEn.hpp" +#include "../mtk/startIdx.hpp" +#include "../mtk/build_manifold.hpp" +#include "util.hpp" + +namespace esekfom { + +using namespace Eigen; + +template +struct dyn_share_modified +{ + bool valid; + bool converge; + T M_Noise; + Eigen::Matrix z; + Eigen::Matrix h_x; + Eigen::Matrix z_IMU; + Eigen::Matrix R_IMU; + bool satu_check[6]; +}; + +template +class esekf{ + + typedef esekf self; + enum{ + n = state::DOF, m = state::DIM, l = measurement::DOF + }; + +public: + + typedef typename state::scalar scalar_type; + typedef Matrix cov; + typedef Matrix cov_; + typedef SparseMatrix spMt; + typedef Matrix vectorized_state; + typedef Matrix flatted_state; + typedef flatted_state processModel(state &, const input &); + typedef Eigen::Matrix processMatrix1(state &, const input &); + typedef Eigen::Matrix processMatrix2(state &, const input &); + typedef Eigen::Matrix processnoisecovariance; + + typedef void measurementModel_dyn_share_modified_cov(state &, Eigen::Matrix3d, Eigen::Matrix3d, dyn_share_modified &); + typedef void measurementModel_dyn_share_modified(state &, dyn_share_modified &); + typedef Eigen::Matrix measurementMatrix1(state &); + typedef Eigen::Matrix measurementMatrix1_dyn(state &); + typedef Eigen::Matrix measurementMatrix2(state &); + typedef Eigen::Matrix measurementMatrix2_dyn(state &); + typedef Eigen::Matrix measurementnoisecovariance; + typedef Eigen::Matrix measurementnoisecovariance_dyn; + + esekf(const state &x = state(), + const cov &P = cov::Identity()): x_(x), P_(P){}; + + void init_dyn_share_modified_2h(processModel f_in, processMatrix1 f_x_in, measurementModel_dyn_share_modified_cov h_dyn_share_in1) + { + f = f_in; + f_x = f_x_in; + // f_w = f_w_in; + h_dyn_share_modified_1 = h_dyn_share_in1; + // h_dyn_share_modified_3 = h_dyn_share_in3; + maximum_iter = 1; + x_.build_S2_state(); + x_.build_SO3_state(); + x_.build_vect_state(); + x_.build_SEN_state(); + } + + void init_dyn_share_modified_3h(processModel f_in, processMatrix1 f_x_in, measurementModel_dyn_share_modified_cov h_dyn_share_in1, measurementModel_dyn_share_modified h_dyn_share_in2) + { + f = f_in; + f_x = f_x_in; + // f_w = f_w_in; + h_dyn_share_modified_1 = h_dyn_share_in1; + h_dyn_share_modified_2 = h_dyn_share_in2; + // h_dyn_share_modified_3 = h_dyn_share_in3; + maximum_iter = 1; + x_.build_S2_state(); + x_.build_SO3_state(); + x_.build_vect_state(); + x_.build_SEN_state(); + } + + // iterated error state EKF propogation + void predict(double &dt, processnoisecovariance &Q, const input &i_in, bool predict_state, bool prop_cov){ + if (predict_state) + { + flatted_state f_ = f(x_, i_in); + x_.oplus(f_, dt); + } + + if (prop_cov) + { + flatted_state f_ = f(x_, i_in); + // state x_before = x_; + + cov_ f_x_ = f_x(x_, i_in); + cov f_x_final; + F_x1 = cov::Identity(); + for (std::vector, int> >::iterator it = x_.vect_state.begin(); it != x_.vect_state.end(); it++) { + int idx = (*it).first.first; + int dim = (*it).first.second; + int dof = (*it).second; + for(int i = 0; i < n; i++){ + for(int j=0; j res_temp_SO3; + MTK::vect<3, scalar_type> seg_SO3; + for (std::vector >::iterator it = x_.SO3_state.begin(); it != x_.SO3_state.end(); it++) { + int idx = (*it).first; + int dim = (*it).second; + for(int i = 0; i < 3; i++){ + seg_SO3(i) = -1 * f_(dim + i) * dt; + } + // MTK::SO3 res; + // res.w() = MTK::exp(res.vec(), seg_SO3, scalar_type(1/2)); + F_x1.template block<3, 3>(idx, idx) = MTK::SO3::exp(seg_SO3); // res.normalized().toRotationMatrix(); + res_temp_SO3 = MTK::A_matrix(seg_SO3); + for(int i = 0; i < n; i++){ + f_x_final. template block<3, 1>(idx, i) = res_temp_SO3 * (f_x_. template block<3, 1>(dim, i)); + } + } + + F_x1 += f_x_final * dt; + P_ = F_x1 * P_ * (F_x1).transpose() + Q * (dt * dt); + } + } + + bool update_iterated_dyn_share_modified() { + dyn_share_modified dyn_share; + state x_propagated = x_; + int dof_Measurement; + double m_noise; + for(int i=0; i(0, 0), P_. template block<3, 3>(3, 3), dyn_share); + if(! dyn_share.valid) + { + return false; + // continue; + } + Matrix z = dyn_share.z; + // Matrix R = dyn_share.R; + Matrix h_x = dyn_share.h_x; + // Matrix h_v = dyn_share.h_v; + dof_Measurement = h_x.rows(); + m_noise = dyn_share.M_Noise; + // dof_Measurement_noise = dyn_share.R.rows(); + // vectorized_state dx, dx_new; + // x_.boxminus(dx, x_propagated); + // dx_new = dx; + // P_ = P_propagated; + + Matrix PHT; + Matrix HPHT; + Matrix K_; + if(n > dof_Measurement) + { + PHT = P_. template block(0, 0) * h_x.transpose(); + HPHT = h_x * PHT.topRows(12); + for (int m = 0; m < dof_Measurement; m++) + { + HPHT(m, m) += m_noise; + } + K_= PHT*HPHT.inverse(); + } + else + { + Matrix HTH = m_noise * h_x.transpose() * h_x; + Matrix P_inv = P_.inverse(); + P_inv.template block<12, 12>(0, 0) += HTH; + P_inv = P_inv.inverse(); + K_ = P_inv.template block(0, 0) * h_x.transpose() * m_noise; + } + Matrix dx_ = K_ * z; // - h) + (K_x - Matrix::Identity()) * dx_new; + // state x_before = x_; + + x_.boxplus(dx_); + { + P_ = P_ - K_*h_x*P_. template block<12, n>(0, 0); + } + } + return true; + } + + void update_iterated_dyn_share_IMU() { + + dyn_share_modified dyn_share; + for(int i=0; i z = dyn_share.z_IMU; + + Matrix PHT; + Matrix HP; + Matrix HPHT; + PHT.setZero(); + HP.setZero(); + HPHT.setZero(); + for (int l_ = 0; l_ < 6; l_++) + { + if (!dyn_share.satu_check[l_]) + { + PHT.col(l_) = P_.col(15+l_) + P_.col(24+l_); + HP.row(l_) = P_.row(15+l_) + P_.row(24+l_); + } + } + for (int l_ = 0; l_ < 6; l_++) + { + if (!dyn_share.satu_check[l_]) + { + HPHT.col(l_) = HP.col(15+l_) + HP.col(24+l_); + } + HPHT(l_, l_) += dyn_share.R_IMU(l_); //, l); + } + Eigen::Matrix K = PHT * HPHT.inverse(); + + Matrix dx_ = K * z; + + P_ -= K * HP; + x_.boxplus(dx_); + } + return; + } + + void change_x(state &input_state) + { + x_ = input_state; + + if((!x_.vect_state.size())&&(!x_.SO3_state.size())&&(!x_.S2_state.size())&&(!x_.SEN_state.size())) + { + x_.build_S2_state(); + x_.build_SO3_state(); + x_.build_vect_state(); + x_.build_SEN_state(); + } + } + + void change_P(cov &input_cov) + { + P_ = input_cov; + } + + const state& get_x() const { + return x_; + } + const cov& get_P() const { + return P_; + } + cov P_; + state x_; +private: + measurement m_; + spMt l_; + spMt f_x_1; + spMt f_x_2; + cov F_x1 = cov::Identity(); + cov F_x2 = cov::Identity(); + cov L_ = cov::Identity(); + + processModel *f; + processMatrix1 *f_x; + processMatrix2 *f_w; + + measurementMatrix1 *h_x; + measurementMatrix2 *h_v; + + measurementMatrix1_dyn *h_x_dyn; + measurementMatrix2_dyn *h_v_dyn; + + measurementModel_dyn_share_modified_cov *h_dyn_share_modified_1; + + measurementModel_dyn_share_modified *h_dyn_share_modified_2; + + measurementModel_dyn_share_modified *h_dyn_share_modified_3; + + int maximum_iter = 0; + scalar_type limit[n]; + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +} // namespace esekfom + +#endif // ESEKFOM_EKF_HPP diff --git a/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/esekfom/util.hpp b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/esekfom/util.hpp new file mode 100755 index 0000000..ab39fc4 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/esekfom/util.hpp @@ -0,0 +1,82 @@ +/* + * Copyright (c) 2019--2023, The University of Hong Kong + * All rights reserved. + * + * Author: Dongjiao HE + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef __MEKFOM_UTIL_HPP__ +#define __MEKFOM_UTIL_HPP__ + +#include +#include "../mtk/src/mtkmath.hpp" +namespace esekfom { + +template +class is_same { +public: + operator bool() { + return false; + } +}; +template +class is_same { +public: + operator bool() { + return true; + } +}; + +template +class is_double { +public: + operator bool() { + return false; + } +}; + +template<> +class is_double { +public: + operator bool() { + return true; + } +}; + +template +static T +id(const T &x) +{ + return x; +} + +} // namespace esekfom + +#endif // __MEKFOM_UTIL_HPP__ diff --git a/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/build_manifold.hpp b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/build_manifold.hpp new file mode 100755 index 0000000..115ec7e --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/build_manifold.hpp @@ -0,0 +1,248 @@ +// This is an advanced implementation of the algorithm described in the +// following paper: +// C. Hertzberg, R. Wagner, U. Frese, and L. Schroder. Integratinggeneric sensor fusion algorithms with sound state representationsthrough encapsulation of manifolds. +// CoRR, vol. abs/1107.1119, 2011.[Online]. Available: http://arxiv.org/abs/1107.1119 + +/* + * Copyright (c) 2019--2023, The University of Hong Kong + * All rights reserved. + * + * Modifier: Dongjiao HE + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * Copyright (c) 2008--2011, Universitaet Bremen + * All rights reserved. + * + * Author: Christoph Hertzberg + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file mtk/build_manifold.hpp + * @brief Macro to automatically construct compound manifolds. + * + */ +#ifndef MTK_AUTOCONSTRUCT_HPP_ +#define MTK_AUTOCONSTRUCT_HPP_ + +#include + +#include +#include +#include + +#include "src/SubManifold.hpp" +#include "startIdx.hpp" + +#ifndef PARSED_BY_DOXYGEN +//////// internals ////// + +#define MTK_APPLY_MACRO_ON_TUPLE(r, macro, tuple) macro tuple + +#define MTK_TRANSFORM_COMMA(macro, entries) BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_TRANSFORM_S(1, MTK_APPLY_MACRO_ON_TUPLE, macro, entries)) + +#define MTK_TRANSFORM(macro, entries) BOOST_PP_SEQ_FOR_EACH_R(1, MTK_APPLY_MACRO_ON_TUPLE, macro, entries) + +#define MTK_CONSTRUCTOR_ARG( type, id) const type& id = type() +#define MTK_CONSTRUCTOR_COPY( type, id) id(id) +#define MTK_BOXPLUS( type, id) id.boxplus(MTK::subvector(__vec, &self::id), __scale); +#define MTK_OPLUS( type, id) id.oplus(MTK::subvector_(__vec, &self::id), __scale); +#define MTK_BOXMINUS( type, id) id.boxminus(MTK::subvector(__res, &self::id), __oth.id); +#define MTK_HAT( type, id) if(id.IDX == idx){id.hat(vec, res);} +#define MTK_JACOB_RIGHT_INV( type, id) if(id.IDX == idx){id.Jacob_right_inv(vec, res);} +#define MTK_JACOB_RIGHT( type, id) if(id.IDX == idx){id.Jacob_right(vec, res);} +#define MTK_S2_hat( type, id) if(id.IDX == idx){id.S2_hat(res);} +#define MTK_S2_Nx_yy( type, id) if(id.IDX == idx){id.S2_Nx_yy(res);} +#define MTK_S2_Mx( type, id) if(id.IDX == idx){id.S2_Mx(res, dx);} +#define MTK_OSTREAM( type, id) << __var.id << " " +#define MTK_ISTREAM( type, id) >> __var.id +#define MTK_S2_state( type, id) if(id.TYP == 1){S2_state.push_back(std::make_pair(id.IDX, id.DIM));} +#define MTK_SO3_state( type, id) if(id.TYP == 2){(SO3_state).push_back(std::make_pair(id.IDX, id.DIM));} +#define MTK_vect_state( type, id) if(id.TYP == 0){(vect_state).push_back(std::make_pair(std::make_pair(id.IDX, id.DIM), type::DOF));} +#define MTK_SEN_state( type, id) if(id.TYP == 4){(SEN_state).push_back(std::make_pair(std::make_pair(id.IDX, id.DIM), type::DOF));} + +#define MTK_SUBVARLIST(seq, S2state, SO3state, SENstate) \ +BOOST_PP_FOR_1( \ + ( \ + BOOST_PP_SEQ_SIZE(seq), \ + BOOST_PP_SEQ_HEAD(seq), \ + BOOST_PP_SEQ_TAIL(seq) (~), \ + 0,\ + 0,\ + S2state,\ + SO3state,\ + SENstate ),\ + MTK_ENTRIES_TEST, MTK_ENTRIES_NEXT, MTK_ENTRIES_OUTPUT) + +#define MTK_PUT_TYPE(type, id, dof, dim, S2state, SO3state, SENstate) \ + MTK::SubManifold id; +#define MTK_PUT_TYPE_AND_ENUM(type, id, dof, dim, S2state, SO3state, SENstate) \ + MTK_PUT_TYPE(type, id, dof, dim, S2state, SO3state, SENstate) \ + enum {DOF = type::DOF + dof}; \ + enum {DIM = type::DIM+dim}; \ + typedef type::scalar scalar; + +#define MTK_ENTRIES_OUTPUT(r, state) MTK_ENTRIES_OUTPUT_I state +#define MTK_ENTRIES_OUTPUT_I(s, head, seq, dof, dim, S2state, SO3state, SENstate) \ + MTK_APPLY_MACRO_ON_TUPLE(~, \ + BOOST_PP_IF(BOOST_PP_DEC(s), MTK_PUT_TYPE, MTK_PUT_TYPE_AND_ENUM), \ + ( BOOST_PP_TUPLE_REM_2 head, dof, dim, S2state, SO3state, SENstate)) + +#define MTK_ENTRIES_TEST(r, state) MTK_TUPLE_ELEM_4_0 state + +//! this used to be BOOST_PP_TUPLE_ELEM_4_0: +#define MTK_TUPLE_ELEM_4_0(a,b,c,d,e,f, g, h) a + +#define MTK_ENTRIES_NEXT(r, state) MTK_ENTRIES_NEXT_I state +#define MTK_ENTRIES_NEXT_I(len, head, seq, dof, dim, S2state, SO3state, SENstate) ( \ + BOOST_PP_DEC(len), \ + BOOST_PP_SEQ_HEAD(seq), \ + BOOST_PP_SEQ_TAIL(seq), \ + dof + BOOST_PP_TUPLE_ELEM_2_0 head::DOF,\ + dim + BOOST_PP_TUPLE_ELEM_2_0 head::DIM,\ + S2state,\ + SO3state,\ + SENstate ) + +#endif /* not PARSED_BY_DOXYGEN */ + + +/** + * Construct a manifold. + * @param name is the class-name of the manifold, + * @param entries is the list of sub manifolds + * + * Entries must be given in a list like this: + * @code + * typedef MTK::trafo > Pose; + * typedef MTK::vect Vec3; + * MTK_BUILD_MANIFOLD(imu_state, + * ((Pose, pose)) + * ((Vec3, vel)) + * ((Vec3, acc_bias)) + * ) + * @endcode + * Whitespace is optional, but the double parentheses are necessary. + * Construction is done entirely in preprocessor. + * After construction @a name is also a manifold. Its members can be + * accessed by names given in @a entries. + * + * @note Variable types are not allowed to have commas, thus types like + * @c vect need to be typedef'ed ahead. + */ +#define MTK_BUILD_MANIFOLD(name, entries) \ +struct name { \ + typedef name self; \ + std::vector > S2_state;\ + std::vector > SO3_state;\ + std::vector, int> > vect_state;\ + std::vector, int> > SEN_state;\ + MTK_SUBVARLIST(entries, S2_state, SO3_state, SEN_state) \ + name ( \ + MTK_TRANSFORM_COMMA(MTK_CONSTRUCTOR_ARG, entries) \ + ) : \ + MTK_TRANSFORM_COMMA(MTK_CONSTRUCTOR_COPY, entries) {}\ + int getDOF() const { return DOF; } \ + void boxplus(const MTK::vectview & __vec, scalar __scale = 1 ) { \ + MTK_TRANSFORM(MTK_BOXPLUS, entries)\ + } \ + void oplus(const MTK::vectview & __vec, scalar __scale = 1 ) { \ + MTK_TRANSFORM(MTK_OPLUS, entries)\ + } \ + void boxminus(MTK::vectview __res, const name& __oth) const { \ + MTK_TRANSFORM(MTK_BOXMINUS, entries)\ + } \ + friend std::ostream& operator<<(std::ostream& __os, const name& __var){ \ + return __os MTK_TRANSFORM(MTK_OSTREAM, entries); \ + } \ + void build_S2_state(){\ + MTK_TRANSFORM(MTK_S2_state, entries)\ + }\ + void build_vect_state(){\ + MTK_TRANSFORM(MTK_vect_state, entries)\ + }\ + void build_SO3_state(){\ + MTK_TRANSFORM(MTK_SO3_state, entries)\ + }\ + void build_SEN_state(){\ + MTK_TRANSFORM(MTK_SEN_state, entries)\ + }\ + void Lie_hat(Eigen::VectorXd &vec, Eigen::MatrixXd &res, int idx) {\ + MTK_TRANSFORM(MTK_HAT, entries)\ + }\ + void Lie_Jacob_Right_Inv(Eigen::VectorXd &vec, Eigen::MatrixXd &res, int idx) {\ + MTK_TRANSFORM(MTK_JACOB_RIGHT_INV, entries)\ + }\ + void Lie_Jacob_Right(Eigen::VectorXd &vec, Eigen::MatrixXd &res, int idx) {\ + MTK_TRANSFORM(MTK_JACOB_RIGHT, entries)\ + }\ + void S2_hat(Eigen::Matrix &res, int idx) {\ + MTK_TRANSFORM(MTK_S2_hat, entries)\ + }\ + void S2_Nx_yy(Eigen::Matrix &res, int idx) {\ + MTK_TRANSFORM(MTK_S2_Nx_yy, entries)\ + }\ + void S2_Mx(Eigen::Matrix &res, Eigen::Matrix dx, int idx) {\ + MTK_TRANSFORM(MTK_S2_Mx, entries)\ + }\ + friend std::istream& operator>>(std::istream& __is, name& __var){ \ + return __is MTK_TRANSFORM(MTK_ISTREAM, entries); \ + } \ +}; + + + +#endif /*MTK_AUTOCONSTRUCT_HPP_*/ diff --git a/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/src/SubManifold.hpp b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/src/SubManifold.hpp new file mode 100755 index 0000000..a1b13de --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/src/SubManifold.hpp @@ -0,0 +1,123 @@ +// This is an advanced implementation of the algorithm described in the +// following paper: +// C. Hertzberg, R. Wagner, U. Frese, and L. Schroder. Integratinggeneric sensor fusion algorithms with sound state representationsthrough encapsulation of manifolds. +// CoRR, vol. abs/1107.1119, 2011.[Online]. Available: http://arxiv.org/abs/1107.1119 + +/* + * Copyright (c) 2019--2023, The University of Hong Kong + * All rights reserved. + * + * Modifier: Dongjiao HE + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * Copyright (c) 2008--2011, Universitaet Bremen + * All rights reserved. + * + * Author: Christoph Hertzberg + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file mtk/src/SubManifold.hpp + * @brief Defines the SubManifold class + */ + + +#ifndef SUBMANIFOLD_HPP_ +#define SUBMANIFOLD_HPP_ + + +#include "vectview.hpp" + + +namespace MTK { + +/** + * @ingroup SubManifolds + * Helper class for compound manifolds. + * This class wraps a manifold T and provides an enum IDX refering to the + * index of the SubManifold within the compound manifold. + * + * Memberpointers to a submanifold can be used for @ref SubManifolds "functions accessing submanifolds". + * + * @tparam T The manifold type of the sub-type + * @tparam idx The index of the sub-type within the compound manifold + */ +template +struct SubManifold : public T +{ + enum {IDX = idx, DIM = dim /*!< index of the sub-type within the compound manifold */ }; + //! manifold type + typedef T type; + + //! Construct from derived type + template + explicit + SubManifold(const X& t) : T(t) {}; + + //! Construct from internal type + //explicit + SubManifold(const T& t) : T(t) {}; + + //! inherit assignment operator + using T::operator=; + +}; + +} // namespace MTK + + +#endif /* SUBMANIFOLD_HPP_ */ diff --git a/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/src/mtkmath.hpp b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/src/mtkmath.hpp new file mode 100755 index 0000000..a8770e4 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/src/mtkmath.hpp @@ -0,0 +1,294 @@ +// This is an advanced implementation of the algorithm described in the +// following paper: +// C. Hertzberg, R. Wagner, U. Frese, and L. Schroder. Integratinggeneric sensor fusion algorithms with sound state representationsthrough encapsulation of manifolds. +// CoRR, vol. abs/1107.1119, 2011.[Online]. Available: http://arxiv.org/abs/1107.1119 + +/* + * Copyright (c) 2019--2023, The University of Hong Kong + * All rights reserved. + * + * Modifier: Dongjiao HE + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * Copyright (c) 2008--2011, Universitaet Bremen + * All rights reserved. + * + * Author: Christoph Hertzberg + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file mtk/src/mtkmath.hpp + * @brief several math utility functions. + */ + +#ifndef MTKMATH_H_ +#define MTKMATH_H_ + +#include + +#include + +#include "../types/vect.hpp" + +#ifndef M_PI +#define M_PI 3.1415926535897932384626433832795 +#endif + + +namespace MTK { + +namespace internal { + +template +struct traits { + typedef typename Manifold::scalar scalar; + enum {DOF = Manifold::DOF}; + typedef vect vectorized_type; + typedef Eigen::Matrix matrix_type; +}; + +template<> +struct traits : traits > {}; +template<> +struct traits : traits > {}; + +} // namespace internal + +/** + * \defgroup MTKMath Mathematical helper functions + */ +//@{ + +//! constant @f$ \pi @f$ +const double pi = M_PI; + +template inline scalar tolerance(); + +template<> inline float tolerance() { return 1e-5f; } +template<> inline double tolerance() { return 1e-11; } + + +/** + * normalize @a x to @f$[-bound, bound] @f$. + * + * result for @f$ x = bound + 2\cdot n\cdot bound @f$ is arbitrary @f$\pm bound @f$. + */ +template +inline scalar normalize(scalar x, scalar bound){ //not used + if(std::fabs(x) <= bound) return x; + int r = (int)(x *(scalar(1.0)/ bound)); + return x - ((r + (r>>31) + 1) & ~1)*bound; +} + +/** + * Calculate cosine and sinc of sqrt(x2). + * @param x2 the squared angle must be non-negative + * @return a pair containing cos and sinc of sqrt(x2) + */ +template +std::pair cos_sinc_sqrt(const scalar &x2){ + using std::sqrt; + using std::cos; + using std::sin; + static scalar const taylor_0_bound = boost::math::tools::epsilon(); + static scalar const taylor_2_bound = sqrt(taylor_0_bound); + static scalar const taylor_n_bound = sqrt(taylor_2_bound); + + assert(x2>=0 && "argument must be non-negative and must not be nan/-nan"); + + // FIXME check if bigger bounds are possible + if(x2>=taylor_n_bound) { + // slow fall-back solution + scalar x = sqrt(x2); + return std::make_pair(cos(x), sin(x)/x); // x is greater than 0. + } + + // FIXME Replace by Horner-Scheme (4 instead of 5 FLOP/term, numerically more stable, theoretically cos and sinc can be calculated in parallel using SSE2 mulpd/addpd) + // TODO Find optimal coefficients using Remez algorithm + static scalar const inv[] = {1/3., 1/4., 1/5., 1/6., 1/7., 1/8., 1/9.}; + scalar cosi = 1., sinc=1; + scalar term = -1/2. * x2; + for(int i=0; i<3; ++i) { + cosi += term; + term *= inv[2*i]; + sinc += term; + term *= -inv[2*i+1] * x2; + } + + return std::make_pair(cosi, sinc); + +} + +template +Eigen::Matrix hat(const Base& v) { + Eigen::Matrix res; + res << 0, -v[2], v[1], + v[2], 0, -v[0], + -v[1], v[0], 0; + return res; +} + +template +Eigen::Matrix A_inv_trans(const Base& v){ + Eigen::Matrix res; + if(v.norm() > MTK::tolerance()) + { + res = Eigen::Matrix::Identity() + 0.5 * hat(v) + (1 - v.norm() * std::cos(v.norm() / 2) / 2 / std::sin(v.norm() / 2)) * hat(v) * hat(v) / v.squaredNorm(); + + } + else + { + res = Eigen::Matrix::Identity(); + } + + return res; +} + +template +Eigen::Matrix A_inv(const Base& v){ + Eigen::Matrix res; + if(v.norm() > MTK::tolerance()) + { + res = Eigen::Matrix::Identity() - 0.5 * hat(v) + (1 - v.norm() * std::cos(v.norm() / 2) / 2 / std::sin(v.norm() / 2)) * hat(v) * hat(v) / v.squaredNorm(); + + } + else + { + res = Eigen::Matrix::Identity(); + } + + return res; +} + +template +Eigen::Matrix S2_w_expw_( Eigen::Matrix v, scalar length) + { + Eigen::Matrix res; + scalar norm = std::sqrt(v[0]*v[0] + v[1]*v[1]); + if(norm < MTK::tolerance()){ + res = Eigen::Matrix::Zero(); + res(0, 1) = 1; + res(1, 2) = 1; + res /= length; + } + else{ + res << -v[0]*(1/norm-1/std::tan(norm))/std::sin(norm), norm/std::sin(norm), 0, + -v[1]*(1/norm-1/std::tan(norm))/std::sin(norm), 0, norm/std::sin(norm); + res /= length; + } + } + +template +Eigen::Matrix A_matrix(const Base & v){ + Eigen::Matrix res; + double squaredNorm = v[0] * v[0] + v[1] * v[1] + v[2] * v[2]; + double norm = std::sqrt(squaredNorm); + if(norm < MTK::tolerance()){ + res = Eigen::Matrix::Identity(); + } + else{ + res = Eigen::Matrix::Identity() + (1 - std::cos(norm)) / squaredNorm * hat(v) + (1 - std::sin(norm) / norm) / squaredNorm * hat(v) * hat(v); + } + return res; +} + +template +scalar exp(vectview result, vectview vec, const scalar& scale = 1) { + scalar norm2 = vec.squaredNorm(); + std::pair cos_sinc = cos_sinc_sqrt(scale*scale * norm2); + scalar mult = cos_sinc.second * scale; + result = mult * vec; + return cos_sinc.first; +} + + +/** + * Inverse function to @c exp. + * + * @param result @c vectview to the result + * @param w scalar part of input + * @param vec vector part of input + * @param scale scale result by this value + * @param plus_minus_periodicity if true values @f$[w, vec]@f$ and @f$[-w, -vec]@f$ give the same result + */ +template +void log(vectview result, + const scalar &w, const vectview vec, + const scalar &scale, bool plus_minus_periodicity) +{ + // FIXME implement optimized case for vec.squaredNorm() <= tolerance() * (w*w) via Rational Remez approximation ~> only one division + scalar nv = vec.norm(); + if(nv < tolerance()) { + if(!plus_minus_periodicity && w < 0) { + // find the maximal entry: + int i; + nv = vec.cwiseAbs().maxCoeff(&i); + result = scale * std::atan2(nv, w) * vect::Unit(i); + return; + } + nv = tolerance(); + } + scalar s = scale / nv * (plus_minus_periodicity ? std::atan(nv / w) : std::atan2(nv, w) ); + + result = s * vec; +} + + +} // namespace MTK + + +#endif /* MTKMATH_H_ */ diff --git a/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/src/vectview.hpp b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/src/vectview.hpp new file mode 100755 index 0000000..5025071 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/src/vectview.hpp @@ -0,0 +1,168 @@ + +/* + * Copyright (c) 2008--2011, Universitaet Bremen + * All rights reserved. + * + * Author: Christoph Hertzberg + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file mtk/src/vectview.hpp + * @brief Wrapper class around a pointer used as interface for plain vectors. + */ + +#ifndef VECTVIEW_HPP_ +#define VECTVIEW_HPP_ + +#include + +namespace MTK { + +/** + * A view to a vector. + * Essentially, @c vectview is only a pointer to @c scalar but can be used directly in @c Eigen expressions. + * The dimension of the vector is given as template parameter and type-checked when used in expressions. + * Data has to be modifiable. + * + * @tparam scalar Scalar type of the vector. + * @tparam dim Dimension of the vector. + * + * @todo @c vectview can be replaced by simple inheritance of @c Eigen::Map, as soon as they get const-correct + */ +namespace internal { + template + struct CovBlock { + typedef typename Eigen::Block, T1::DOF, T2::DOF> Type; + typedef typename Eigen::Block, T1::DOF, T2::DOF> ConstType; + }; + + template + struct CovBlock_ { + typedef typename Eigen::Block, T1::DIM, T2::DIM> Type; + typedef typename Eigen::Block, T1::DIM, T2::DIM> ConstType; + }; + + template + struct CrossCovBlock { + typedef typename Eigen::Block, T1::DOF, T2::DOF> Type; + typedef typename Eigen::Block, T1::DOF, T2::DOF> ConstType; + }; + + template + struct CrossCovBlock_ { + typedef typename Eigen::Block, T1::DIM, T2::DIM> Type; + typedef typename Eigen::Block, T1::DIM, T2::DIM> ConstType; + }; + + template + struct VectviewBase { + typedef Eigen::Matrix matrix_type; + typedef typename matrix_type::MapType Type; + typedef typename matrix_type::ConstMapType ConstType; + }; + + template + struct UnalignedType { + typedef T type; + }; +} + +template +class vectview : public internal::VectviewBase::Type { + typedef internal::VectviewBase VectviewBase; +public: + //! plain matrix type + typedef typename VectviewBase::matrix_type matrix_type; + //! base type + typedef typename VectviewBase::Type base; + //! construct from pointer + explicit + vectview(scalar* data, int dim_=dim) : base(data, dim_) {} + //! construct from plain matrix + vectview(matrix_type& m) : base(m.data(), m.size()) {} + //! construct from another @c vectview + vectview(const vectview &v) : base(v) {} + //! construct from Eigen::Block: + template + vectview(Eigen::VectorBlock block) : base(&block.coeffRef(0), block.size()) {} + template + vectview(Eigen::Block block) : base(&block.coeffRef(0), block.size()) {} + + //! inherit assignment operator + using base::operator=; + //! data pointer + scalar* data() {return const_cast(base::data());} +}; + +/** + * @c const version of @c vectview. + * Compared to @c Eigen::Map this implementation is const correct, i.e., + * data will not be modifiable using this view. + * + * @tparam scalar Scalar type of the vector. + * @tparam dim Dimension of the vector. + * + * @sa vectview + */ +template +class vectview : public internal::VectviewBase::ConstType { + typedef internal::VectviewBase VectviewBase; +public: + //! plain matrix type + typedef typename VectviewBase::matrix_type matrix_type; + //! base type + typedef typename VectviewBase::ConstType base; + //! construct from const pointer + explicit + vectview(const scalar* data, int dim_ = dim) : base(data, dim_) {} + //! construct from column vector + template + vectview(const Eigen::Matrix& m) : base(m.data()) {} + //! construct from row vector + template + vectview(const Eigen::Matrix& m) : base(m.data()) {} + //! construct from another @c vectview + vectview(vectview x) : base(x.data()) {} + //! construct from base + vectview(const base &x) : base(x) {} + /** + * Construct from Block + * @todo adapt this, when Block gets const-correct + */ + template + vectview(Eigen::VectorBlock block) : base(&block.coeffRef(0)) {} + template + vectview(Eigen::Block block) : base(&block.coeffRef(0)) {} + +}; + + +} // namespace MTK + +#endif /* VECTVIEW_HPP_ */ diff --git a/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/startIdx.hpp b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/startIdx.hpp new file mode 100755 index 0000000..4dc2958 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/startIdx.hpp @@ -0,0 +1,328 @@ +// This is an advanced implementation of the algorithm described in the +// following paper: +// C. Hertzberg, R. Wagner, U. Frese, and L. Schroder. Integratinggeneric sensor fusion algorithms with sound state representationsthrough encapsulation of manifolds. +// CoRR, vol. abs/1107.1119, 2011.[Online]. Available: http://arxiv.org/abs/1107.1119 + +/* + * Copyright (c) 2019--2023, The University of Hong Kong + * All rights reserved. + * + * Modifier: Dongjiao HE + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * Copyright (c) 2008--2011, Universitaet Bremen + * All rights reserved. + * + * Author: Christoph Hertzberg + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file mtk/startIdx.hpp + * @brief Tools to access sub-elements of compound manifolds. + */ +#ifndef GET_START_INDEX_H_ +#define GET_START_INDEX_H_ + +#include + +#include "src/SubManifold.hpp" +#include "src/vectview.hpp" + +namespace MTK { + + +/** + * \defgroup SubManifolds Accessing Submanifolds + * For compound manifolds constructed using MTK_BUILD_MANIFOLD, member pointers + * can be used to get sub-vectors or matrix-blocks of a corresponding big matrix. + * E.g. for a type @a pose consisting of @a orient and @a trans the member pointers + * @c &pose::orient and @c &pose::trans give all required information and are still + * valid if the base type gets extended or the actual types of @a orient and @a trans + * change (e.g. from 2D to 3D). + * + * @todo Maybe require manifolds to typedef MatrixType and VectorType, etc. + */ +//@{ + +/** + * Determine the index of a sub-variable within a compound variable. + */ +template +int getStartIdx( MTK::SubManifold Base::*) +{ + return idx; +} + +template +int getStartIdx_( MTK::SubManifold Base::*) +{ + return dim; +} + +/** + * Determine the degrees of freedom of a sub-variable within a compound variable. + */ +template +int getDof( MTK::SubManifold Base::*) +{ + return T::DOF; +} +template +int getDim( MTK::SubManifold Base::*) +{ + return T::DIM; +} + +/** + * set the diagonal elements of a covariance matrix corresponding to a sub-variable + */ +template +void setDiagonal(Eigen::Matrix &cov, + MTK::SubManifold Base::*, const typename Base::scalar &val) +{ + cov.diagonal().template segment(idx).setConstant(val); +} + +template +void setDiagonal_(Eigen::Matrix &cov, + MTK::SubManifold Base::*, const typename Base::scalar &val) +{ + cov.diagonal().template segment(dim).setConstant(val); +} + +/** + * Get the subblock of corresponding to two members, i.e. + * \code + * Eigen::Matrix m; + * MTK::subblock(m, &Pose::orient, &Pose::trans) = some_expression; + * MTK::subblock(m, &Pose::trans, &Pose::orient) = some_expression.trans(); + * \endcode + * lets you modify mixed covariance entries in a bigger covariance matrix. + */ +template +typename MTK::internal::CovBlock::Type +subblock(Eigen::Matrix &cov, + MTK::SubManifold Base::*, MTK::SubManifold Base::*) +{ + return cov.template block(idx1, idx2); +} + +template +typename MTK::internal::CovBlock_::Type +subblock_(Eigen::Matrix &cov, + MTK::SubManifold Base::*, MTK::SubManifold Base::*) +{ + return cov.template block(dim1, dim2); +} + +template +typename MTK::internal::CrossCovBlock::Type +subblock(Eigen::Matrix &cov, MTK::SubManifold Base1::*, MTK::SubManifold Base2::*) +{ + return cov.template block(idx1, idx2); +} + +template +typename MTK::internal::CrossCovBlock_::Type +subblock_(Eigen::Matrix &cov, MTK::SubManifold Base1::*, MTK::SubManifold Base2::*) +{ + return cov.template block(dim1, dim2); +} +/** + * Get the subblock of corresponding to a member, i.e. + * \code + * Eigen::Matrix m; + * MTK::subblock(m, &Pose::orient) = some_expression; + * \endcode + * lets you modify covariance entries in a bigger covariance matrix. + */ +template +typename MTK::internal::CovBlock_::Type +subblock_(Eigen::Matrix &cov, + MTK::SubManifold Base::*) +{ + return cov.template block(dim, dim); +} + +template +typename MTK::internal::CovBlock::Type +subblock(Eigen::Matrix &cov, + MTK::SubManifold Base::*) +{ + return cov.template block(idx, idx); +} + +template +class get_cov { +public: + typedef Eigen::Matrix type; + typedef const Eigen::Matrix const_type; +}; + +template +class get_cov_ { +public: + typedef Eigen::Matrix type; + typedef const Eigen::Matrix const_type; +}; + +template +class get_cross_cov { +public: + typedef Eigen::Matrix type; + typedef const type const_type; +}; + +template +class get_cross_cov_ { +public: + typedef Eigen::Matrix type; + typedef const type const_type; +}; + + +template +vectview +subvector_impl_(vectview vec, SubManifold Base::*) +{ + return vec.template segment(dim); +} + +template +vectview +subvector_impl(vectview vec, SubManifold Base::*) +{ + return vec.template segment(idx); +} + +/** + * Get the subvector corresponding to a sub-manifold from a bigger vector. + */ + template +vectview +subvector_(vectview vec, SubManifold Base::* ptr) +{ + return subvector_impl_(vec, ptr); +} + +template +vectview +subvector(vectview vec, SubManifold Base::* ptr) +{ + return subvector_impl(vec, ptr); +} + +/** + * @todo This should be covered already by subvector(vectview vec,SubManifold Base::*) + */ +template +vectview +subvector(Eigen::Matrix& vec, SubManifold Base::* ptr) +{ + return subvector_impl(vectview(vec), ptr); +} + +template +vectview +subvector_(Eigen::Matrix& vec, SubManifold Base::* ptr) +{ + return subvector_impl_(vectview(vec), ptr); +} + +template +vectview +subvector_(const Eigen::Matrix& vec, SubManifold Base::* ptr) +{ + return subvector_impl_(vectview(vec), ptr); +} + +template +vectview +subvector(const Eigen::Matrix& vec, SubManifold Base::* ptr) +{ + return subvector_impl(vectview(vec), ptr); +} + + +/** + * const version of subvector(vectview vec,SubManifold Base::*) + */ +template +vectview +subvector_impl(const vectview cvec, SubManifold Base::*) +{ + return cvec.template segment(idx); +} + +template +vectview +subvector_impl_(const vectview cvec, SubManifold Base::*) +{ + return cvec.template segment(dim); +} + +template +vectview +subvector(const vectview cvec, SubManifold Base::* ptr) +{ + return subvector_impl(cvec, ptr); +} + + +} // namespace MTK + +#endif // GET_START_INDEX_H_ diff --git a/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/types/S2.hpp b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/types/S2.hpp new file mode 100755 index 0000000..b19f9b0 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/types/S2.hpp @@ -0,0 +1,327 @@ +// This is a NEW implementation of the algorithm described in the +// following paper: +// C. Hertzberg, R. Wagner, U. Frese, and L. Schroder. Integratinggeneric sensor fusion algorithms with sound state representationsthrough encapsulation of manifolds. +// CoRR, vol. abs/1107.1119, 2011.[Online]. Available: http://arxiv.org/abs/1107.1119 + +/* + * Copyright (c) 2019--2023, The University of Hong Kong + * All rights reserved. + * + * Modifier: Dongjiao HE + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * Copyright (c) 2008--2011, Universitaet Bremen + * All rights reserved. + * + * Author: Christoph Hertzberg + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file mtk/types/S2.hpp + * @brief Unit vectors on the sphere, or directions in 3D. + */ +#ifndef S2_H_ +#define S2_H_ + + +#include "vect.hpp" + +#include "SOn.hpp" +#include "../src/mtkmath.hpp" + + + + +namespace MTK { + +/** + * Manifold representation of @f$ S^2 @f$. + * Used for unit vectors on the sphere or directions in 3D. + * + * @todo add conversions from/to polar angles? + */ +template +struct S2 { + + typedef _scalar scalar; + typedef vect<3, scalar> vect_type; + typedef SO3 SO3_type; + typedef typename vect_type::base vec3; + scalar length = scalar(den)/scalar(num); + enum {DOF=2, TYP = 1, DIM = 3}; + +//private: + /** + * Unit vector on the sphere, or vector pointing in a direction + */ + vect_type vec; + +public: + S2() { + if(S2_typ == 3) vec=length * vec3(0, 0, std::sqrt(1)); + if(S2_typ == 2) vec=length * vec3(0, std::sqrt(1), 0); + if(S2_typ == 1) vec=length * vec3(std::sqrt(1), 0, 0); + } + S2(const scalar &x, const scalar &y, const scalar &z) : vec(vec3(x, y, z)) { + vec.normalize(); + vec = vec * length; + } + + S2(const vect_type &_vec) : vec(_vec) { + vec.normalize(); + vec = vec * length; + } + + void oplus(MTK::vectview delta, scalar scale = 1) + { + // SO3_type res; + // res.w() = MTK::exp(res.vec(), delta, scalar(scale/2)); + vec = SO3_type::exp(delta) * vec; // res.normalized().toRotationMatrix() * vec; + } + + void boxplus(MTK::vectview delta, scalar scale=1) { + Eigen::Matrix Bx; + S2_Bx(Bx); + vect_type Bu = Bx*delta; + // SO3_type res; + // res.w() = MTK::exp(res.vec(), Bu, scalar(scale/2)); + vec = SO3_type::exp(delta) * vec; // res.normalized().toRotationMatrix() * vec; + } + + void boxminus(MTK::vectview res, const S2& other) const { + scalar v_sin = (MTK::hat(vec)*other.vec).norm(); + scalar v_cos = vec.transpose() * other.vec; + scalar theta = std::atan2(v_sin, v_cos); + if(v_sin < MTK::tolerance()) + { + if(std::fabs(theta) > MTK::tolerance() ) + { + res[0] = 3.1415926; + res[1] = 0; + } + else{ + res[0] = 0; + res[1] = 0; + } + } + else + { + S2 other_copy = other; + Eigen::MatrixBx; + other_copy.S2_Bx(Bx); + res = theta/v_sin * Bx.transpose() * MTK::hat(other.vec)*vec; + } + } + + void hat(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + std::cout << "wrong idx" << std::endl; + } + void Jacob_right_inv(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + std::cout << "wrong idx" << std::endl; + } + void Jacob_right(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + std::cout << "wrong idx" << std::endl; + } + + void S2_hat(Eigen::Matrix &res) + { + Eigen::Matrix skew_vec; + skew_vec << scalar(0), -vec[2], vec[1], + vec[2], scalar(0), -vec[0], + -vec[1], vec[0], scalar(0); + res = skew_vec; + } + + + void S2_Bx(Eigen::Matrix &res) + { + if(S2_typ == 3) + { + if(vec[2] + length > tolerance()) + { + + res << length - vec[0]*vec[0]/(length+vec[2]), -vec[0]*vec[1]/(length+vec[2]), + -vec[0]*vec[1]/(length+vec[2]), length-vec[1]*vec[1]/(length+vec[2]), + -vec[0], -vec[1]; + res /= length; + } + else + { + res = Eigen::Matrix::Zero(); + res(1, 1) = -1; + res(2, 0) = 1; + } + } + else if(S2_typ == 2) + { + if(vec[1] + length > tolerance()) + { + + res << length - vec[0]*vec[0]/(length+vec[1]), -vec[0]*vec[2]/(length+vec[1]), + -vec[0], -vec[2], + -vec[0]*vec[2]/(length+vec[1]), length-vec[2]*vec[2]/(length+vec[1]); + res /= length; + } + else + { + res = Eigen::Matrix::Zero(); + res(1, 1) = -1; + res(2, 0) = 1; + } + } + else + { + if(vec[0] + length > tolerance()) + { + + res << -vec[1], -vec[2], + length - vec[1]*vec[1]/(length+vec[0]), -vec[2]*vec[1]/(length+vec[0]), + -vec[2]*vec[1]/(length+vec[0]), length-vec[2]*vec[2]/(length+vec[0]); + res /= length; + } + else + { + res = Eigen::Matrix::Zero(); + res(1, 1) = -1; + res(2, 0) = 1; + } + } + } + + void S2_Nx(Eigen::Matrix &res, S2& subtrahend) + { + if((vec+subtrahend.vec).norm() > tolerance()) + { + Eigen::Matrix Bx; + S2_Bx(Bx); + if((vec-subtrahend.vec).norm() > tolerance()) + { + scalar v_sin = (MTK::hat(vec)*subtrahend.vec).norm(); + scalar v_cos = vec.transpose() * subtrahend.vec; + + res = Bx.transpose() * (std::atan2(v_sin, v_cos)/v_sin*MTK::hat(vec)+MTK::hat(vec)*subtrahend.vec*((-v_cos/v_sin/v_sin/length/length/length/length+std::atan2(v_sin, v_cos)/v_sin/v_sin/v_sin)*subtrahend.vec.transpose()*MTK::hat(vec)*MTK::hat(vec)-vec.transpose()/length/length/length/length)); + } + else + { + res = 1/length/length*Bx.transpose()*MTK::hat(vec); + } + } + else + { + std::cerr << "No N(x, y) for x=-y" << std::endl; + std::exit(100); + } + } + + void S2_Nx_yy(Eigen::Matrix &res) + { + Eigen::Matrix Bx; + S2_Bx(Bx); + res = 1/length/length*Bx.transpose()*MTK::hat(vec); + } + + void S2_Mx(Eigen::Matrix &res, MTK::vectview delta) + { + Eigen::Matrix Bx; + S2_Bx(Bx); + if(delta.norm() < tolerance()) + { + res = -MTK::hat(vec)*Bx; + } + else{ + vect_type Bu = Bx*delta; + // SO3_type exp_delta; + // exp_delta.w() = MTK::exp(exp_delta.vec(), Bu, scalar(1/2)); + res = -SO3_type::exp(Bu)*MTK::hat(vec)*MTK::A_matrix(Bu).transpose()*Bx; // exp_delta.normalized().toRotationMatrix() + } + } + + operator const vect_type&() const{ + return vec; + } + + const vect_type& get_vect() const { + return vec; + } + + friend S2 operator*(const SO3& rot, const S2& dir) + { + S2 ret; + ret.vec = rot * dir.vec; + return ret; + } + + scalar operator[](int idx) const {return vec[idx]; } + + friend std::ostream& operator<<(std::ostream &os, const S2& vec){ + return os << vec.vec.transpose() << " "; + } + friend std::istream& operator>>(std::istream &is, S2& vec){ + for(int i=0; i<3; ++i) + is >> vec.vec[i]; + vec.vec.normalize(); + vec.vec = vec.vec * vec.length; + return is; + + } +}; + + +} // namespace MTK + + +#endif /*S2_H_*/ diff --git a/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/types/SEn.hpp b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/types/SEn.hpp new file mode 100755 index 0000000..2270136 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/types/SEn.hpp @@ -0,0 +1,334 @@ +// This is an advanced implementation of the algorithm described in the +// following paper: +// C. Hertzberg, R. Wagner, U. Frese, and L. Schroder. Integratinggeneric sensor fusion algorithms with sound state representationsthrough encapsulation of manifolds. +// CoRR, vol. abs/1107.1119, 2011.[Online]. Available: http://arxiv.org/abs/1107.1119 + +/* + * Copyright (c) 2019--2023, The University of Hong Kong + * All rights reserved. + * + * Modifier: Dongjiao HE + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * Copyright (c) 2008--2011, Universitaet Bremen + * All rights reserved. + * + * Author: Christoph Hertzberg + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file mtk/types/SEn.hpp + * @brief Standard Orthogonal Groups i.e.\ rotatation groups. + */ +#ifndef SEN_H_ +#define SEN_H_ + +#include + +#include "SOn.hpp" +#include "vect.hpp" +#include "../src/mtkmath.hpp" + + +namespace MTK { + + +/** + * Three-dimensional orientations represented as Quaternion. + * It is assumed that the internal Quaternion always stays normalized, + * should this not be the case, call inherited member function @c normalize(). + */ +template +struct SEN { + enum {DOF = num_of_vec_plus1, DIM = num_of_vec_plus1, TYP = 4}; + typedef _scalar scalar; + typedef Eigen::Matrix base; + typedef SO3 SO3_type; + // typedef Eigen::Quaternion base; + // typedef Eigen::Quaternion Quaternion; + typedef vect vect_type; + SO3_type SO3_data; + base mat; + + /** + * Construct from real part and three imaginary parts. + * Quaternion is normalized after construction. + */ + // SEN(const base& src) : mat(src) { + // // base::normalize(); + // } + + /** + * Construct from Eigen::Quaternion. + * @note Non-normalized input may result result in spurious behavior. + */ + SEN(const base& src = base::Identity()) : mat(src) {} + + /** + * Construct from rotation matrix. + * @note Invalid rotation matrices may lead to spurious behavior. + */ + // template + // SO3(const Eigen::MatrixBase& matrix) : base(matrix) {} + + /** + * Construct from arbitrary rotation type. + * @note Invalid rotation matrices may lead to spurious behavior. + */ + // template + // SO3(const Eigen::RotationBase& rotation) : base(rotation.derived()) {} + + //! @name Manifold requirements + + void boxplus(MTK::vectview vec, scalar scale=1) { + SEN delta = exp(vec, scale); // ? + mat = mat * delta.mat; + } + void boxminus(MTK::vectview res, const SEN& other) const { + base error_mat = other.mat.inverse() * mat; + res = log(error_mat); + } + //} + + void oplus(MTK::vectview vec, scalar scale=1) { + SEN delta = exp(vec, scale); + mat = mat * delta.mat; + } + + // void hat(MTK::vectview& v, Eigen::Matrix &res) { + void hat(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + res = Eigen::Matrix::Zero(); + Eigen::Matrix psi; + psi << 0, -v[2], v[1], + v[2], 0, -v[0], + -v[1], v[0], 0; + res.block<3, 3>(0, 0) = psi; + for(int i = 3; i < v.size() / 3 + 2; i++) + { + res.block<3, 1>(0, i) = v.segment<3>(i + (i-3)*3); + } + // return res; + } + + // void Jacob_right_inv(MTK::vectview vec, Eigen::Matrix & res){ + void Jacob_right_inv(Eigen::VectorXd& vec, Eigen::MatrixXd &res){ + res = Eigen::Matrix::Zero(); + Eigen::Matrix M_v; + Eigen::VectorXd vec_psi, vec_ro; + Eigen::MatrixXd jac_v; + Eigen::MatrixXd hat_v, hat_ro; + vec_psi = vec.segment<3>(0); + // Eigen::Matrix ; + SO3_data.hat(vec_psi, hat_v); + SO3_data.Jacob_right_inv(vec_psi, jac_v); + double norm = vec_psi.norm(); + for(int i = 0; i < vec.size() / 3; i++) + { + res.block<3, 3>(i*3, i*3) = jac_v; + } + for(int i = 1; i < vec.size() / 3; i++) + { + vec_ro = vec.segment<3>(i * 3); + SO3_data.hat(vec_ro, hat_ro); + if(norm > MTK::tolerance()) + { + res.block<3,3>(i*3, 0) = 0.5 * hat_ro + (1 - norm * std::cos(norm / 2) / 2 / std::sin(norm / 2))/norm/norm * (hat_ro * hat_v + hat_v * hat_ro) + ((2 - norm * std::cos(norm / 2) / 2 / std::sin(norm / 2)) / 2 / norm / norm / norm / norm - 1 / 8 / norm / norm / std::sin(norm / 2) / std::sin(norm / 2)) * hat_v * (hat_ro * hat_v + hat_v * hat_ro) * hat_v; + } + else + { + res.block<3,3>(i*3, 0) = 0.5 * hat_ro; + } + + } + // return res; + } + + // void Jacob_right(MTK::vectview & vec, Eigen::Matrix &res){ + void Jacob_right(Eigen::VectorXd& vec, Eigen::MatrixXd &res){ + res = Eigen::Matrix::Zero(); + Eigen::MatrixXd hat_v, hat_ro; + Eigen::VectorXd vec_psi, vec_ro; + Eigen::MatrixXd jac_v; + vec_psi = vec.segment<3>(0); + // Eigen::Matrix ; + SO3_data.hat(vec_psi, hat_v); + SO3_data.Jacob_right(vec_psi, jac_v); + // double squaredNorm = v[0] * v[0] + v[1] * v[1] + v[2] * v[2]; + // double norm = std::sqrt(squaredNorm); + double norm = vec_psi.norm(); + for(int i = 0; i < vec.size() / 3; i++) + { + res.block<3, 3>(i*3, i*3) = jac_v; + } + for(int i = 1; i < vec.size() / 3; i++) + { + vec_ro = vec.segment<3>(i * 3); + SO3_data.hat(vec_ro, hat_ro); + if(norm > MTK::tolerance()) + { + res.block<3,3>(i*3, 0) = -1 * jac_v * (0.5 * hat_ro + (1 - norm * std::cos(norm / 2) / 2 / std::sin(norm / 2))/norm/norm * (hat_ro * hat_v + hat_v * hat_ro) + ((2 - norm * std::cos(norm / 2) / 2 / std::sin(norm / 2)) / 2 / norm / norm / norm / norm - 1 / 8 / norm / norm / std::sin(norm / 2) / std::sin(norm / 2)) * hat_v * (hat_ro * hat_v + hat_v * hat_ro) * hat_v) * jac_v; + } + else + { + res.block<3,3>(i*3, 0) = -0.5 * jac_v * hat_ro * jac_v; + } + + } + // return res; + } + + void S2_hat(Eigen::Matrix &res) + { + std::cerr << "wrong idx for S2" << std::endl; + res = Eigen::Matrix::Zero(); + } + void S2_Nx_yy(Eigen::Matrix &res) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + void S2_Mx(Eigen::Matrix &res, MTK::vectview delta) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + friend std::ostream& operator<<(std::ostream &os, const SEN& q){ + for(int i=0; i>(std::istream &is, SEN& q){ + // vect coeffs; + for(int i=0; i> q.mat(i, j); + } + } + // is >> q.mat; + // coeffs; + // q.coeffs() = coeffs.normalized(); + return is; + } + + //! @name Helper functions + //{ + /** + * Calculate the exponential map. In matrix terms this would correspond + * to the Rodrigues formula. + */ + // FIXME vectview<> can't be constructed from every MatrixBase<>, use const Vector3x& as workaround +// static SO3 exp(MTK::vectview dvec, scalar scale = 1){ + static SEN exp(const Eigen::Matrix& dvec, scalar scale = 1){ + SEN res; + res.mat = Eigen::Matrix::Identity(); + Eigen::Matrix exp_; //, jac; + Eigen::MatrixXd jac; + Eigen::Matrix psi; + Eigen::VectorXd minus_psi; + psi = dvec.template block<3,1>(0, 0); + minus_psi = -psi; + SO3_type SO3_temp; + exp_ = SO3_type::exp(psi); + SO3_temp.Jacob_right(minus_psi, jac); + res.mat.template block<3,3>(0, 0) = exp_; + for(int i = 3; i < DOF / 3 + 2; i++) + { + res.mat.template block<3, 1>(0, i) = jac * dvec.template block<3,1>(i + (i-3)*3,0); + } + return res; + } + /** + * Calculate the inverse of @c exp. + * Only guarantees that exp(log(x)) == x + */ + static Eigen::Matrix log(base &orient){ + Eigen::Matrix res; + Eigen::Matrix psi; + Eigen::VectorXd minus_psi; + Eigen::Matrix mat_psi; + Eigen::MatrixXd jac; + mat_psi = orient.template block<3, 3>(0, 0); + SO3_type SO3_temp; + SO3_type exp_psi(mat_psi); + psi = SO3_type::log(exp_psi); + minus_psi = -psi; + SO3_temp.Jacob_right_inv(minus_psi, jac); + for(int i = 3; i < dim_of_mat; i++) + { + res.template block<3,1>(i + (i-3)*3,0) = jac * orient.template block<3, 1>(0, i); + } + return res; + } +}; + + +} // namespace MTK + +#endif /*SON_H_*/ + diff --git a/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/types/SOn.hpp b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/types/SOn.hpp new file mode 100755 index 0000000..155ecf7 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/types/SOn.hpp @@ -0,0 +1,361 @@ +// This is an advanced implementation of the algorithm described in the +// following paper: +// C. Hertzberg, R. Wagner, U. Frese, and L. Schroder. Integratinggeneric sensor fusion algorithms with sound state representationsthrough encapsulation of manifolds. +// CoRR, vol. abs/1107.1119, 2011.[Online]. Available: http://arxiv.org/abs/1107.1119 + +/* + * Copyright (c) 2019--2023, The University of Hong Kong + * All rights reserved. + * + * Modifier: Dongjiao HE + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * Copyright (c) 2008--2011, Universitaet Bremen + * All rights reserved. + * + * Author: Christoph Hertzberg + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file mtk/types/SOn.hpp + * @brief Standard Orthogonal Groups i.e.\ rotatation groups. + */ +#ifndef SON_H_ +#define SON_H_ + +#include + +#include "vect.hpp" +#include "../src/mtkmath.hpp" + + +namespace MTK { + + +/** + * Two-dimensional orientations represented as scalar. + * There is no guarantee that the representing scalar is within any interval, + * but the result of boxminus will always have magnitude @f$\le\pi @f$. + */ +template +struct SO2 : public Eigen::Rotation2D<_scalar> { + enum {DOF = 1, DIM = 2, TYP = 3}; + + typedef _scalar scalar; + typedef Eigen::Rotation2D base; + typedef vect vect_type; + + //! Construct from angle + SO2(const scalar& angle = 0) : base(angle) { } + + //! Construct from Eigen::Rotation2D + SO2(const base& src) : base(src) {} + + /** + * Construct from 2D vector. + * Resulting orientation will rotate the first unit vector to point to vec. + */ + SO2(const vect_type &vec) : base(atan2(vec[1], vec[0])) {}; + + + //! Calculate @c this->inverse() * @c r + SO2 operator%(const base &r) const { + return base::inverse() * r; + } + + //! Calculate @c this->inverse() * @c r + template + vect_type operator%(const Eigen::MatrixBase &vec) const { + return base::inverse() * vec; + } + + //! Calculate @c *this * @c r.inverse() + SO2 operator/(const SO2 &r) const { + return *this * r.inverse(); + } + + //! Gets the angle as scalar. + operator scalar() const { + return base::angle(); + } + void S2_hat(Eigen::Matrix &res) + { + res = Eigen::Matrix::Zero(); + } + //! @name Manifold requirements + void S2_Nx_yy(Eigen::Matrix &res) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + void S2_Mx(Eigen::Matrix &res, MTK::vectview delta) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + void oplus(MTK::vectview vec, scalar scale = 1) { + base::angle() += scale * vec[0]; + } + + void boxplus(MTK::vectview vec, scalar scale = 1) { + base::angle() += scale * vec[0]; + } + void boxminus(MTK::vectview res, const SO2& other) const { + res[0] = MTK::normalize(base::angle() - other.angle(), scalar(MTK::pi)); + } + + friend std::istream& operator>>(std::istream &is, SO2& ang){ + return is >> ang.angle(); + } + void hat(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + std::cout << "wrong idx" << std::endl; + } + void Jacob_right_inv(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + std::cout << "wrong idx" << std::endl; + } + void Jacob_right(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + std::cout << "wrong idx" << std::endl; + } +}; + + +/** + * Three-dimensional orientations represented as Quaternion. + * It is assumed that the internal Quaternion always stays normalized, + * should this not be the case, call inherited member function @c normalize(). + */ +template //, int Options = Eigen::AutoAlign> +struct SO3 : public Eigen::Matrix<_scalar, 3, 3> { + enum {DOF = 3, DIM = 3, TYP = 2}; + typedef _scalar scalar; + typedef Eigen::Matrix base; + typedef Eigen::Matrix Matrix; + typedef vect vect_type; + + /** + * Construct from Eigen::Quaternion. + * @note Non-normalized input may result result in spurious behavior. + */ + SO3(const base& src = base::Identity()) : base(src) {} + + /** + * Construct from rotation matrix. + * @note Invalid rotation matrices may lead to spurious behavior. + */ + template + SO3(const Eigen::MatrixBase& matrix) : base(matrix) {} + + /** + * Construct from arbitrary rotation type. + * @note Invalid rotation matrices may lead to spurious behavior. + */ + // template + // SO3(const Eigen::RotationBase& rotation) : base(rotation.derived()) {} + + //! @name Manifold requirements + + // SO3 operator=(const base &r) const { + // return r; + // } + + // //! Calculate @c *this * @c r.inverse() + // SO3 operator*(const SO3 &r) const { + // return *this * r; + // } + + void boxplus(MTK::vectview vec, scalar scale=1) { + SO3 delta = exp(vec, scale); + *this = *this * delta; + } + void boxminus(MTK::vectview res, const SO3& other) const { + res = SO3::log(other.transpose() * *this); + } + //} + + void oplus(MTK::vectview vec, scalar scale=1) { + SO3 delta = exp(vec, scale); + *this = *this * delta; + } + + // void hat(MTK::vectview& v, Eigen::Matrix &res) { + void hat(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + // Eigen::Matrix res; + res << 0, -v[2], v[1], + v[2], 0, -v[0], + -v[1], v[0], 0; + // return res; + } + + // void Jacob_right_inv(MTK::vectview vec, Eigen::Matrix & res){ + void Jacob_right_inv(Eigen::VectorXd& vec, Eigen::MatrixXd &res){ + Eigen::MatrixXd hat_v; + hat(vec, hat_v); + if(vec.norm() > MTK::tolerance()) + { + res = Eigen::Matrix::Identity() + 0.5 * hat_v + (1 - vec.norm() * std::cos(vec.norm() / 2) / 2 / std::sin(vec.norm() / 2)) * hat_v * hat_v / vec.squaredNorm(); + } + else + { + res = Eigen::Matrix::Identity(); + } + // return res; + } + + // void Jacob_right(MTK::vectview & v, Eigen::Matrix &res){ + void Jacob_right(Eigen::VectorXd& v, Eigen::MatrixXd &res){ + Eigen::MatrixXd hat_v; + hat(v, hat_v); + double squaredNorm = v[0] * v[0] + v[1] * v[1] + v[2] * v[2]; + double norm = std::sqrt(squaredNorm); + if(norm < MTK::tolerance()){ + res = Eigen::Matrix::Identity(); + } + else{ + res = Eigen::Matrix::Identity() - (1 - std::cos(norm)) / squaredNorm * hat_v + (1 - std::sin(norm) / norm) / squaredNorm * hat_v * hat_v; + } + // return res; + } + + void S2_hat(Eigen::Matrix &res) + { + res = Eigen::Matrix::Zero(); + } + void S2_Nx_yy(Eigen::Matrix &res) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + void S2_Mx(Eigen::Matrix &res, MTK::vectview delta) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + friend std::ostream& operator<<(std::ostream &os, const SO3& q){ // wrong! + return os << q.data() << " "; + } + + friend std::istream& operator>>(std::istream &is, SO3& q){ // wrong! + SO3 coeffs; + is >> coeffs; + q = coeffs; + return is; + } + + //! @name Helper functions + //{ + /** + * Calculate the exponential map. In matrix terms this would correspond + * to the Rodrigues formula. + */ + // FIXME vectview<> can't be constructed from every MatrixBase<>, use const Vector3x& as workaround +// static SO3 exp(MTK::vectview dvec, scalar scale = 1){ + static SO3 exp(const Eigen::Matrix& dvec, scalar scale = 1){ + Eigen::Matrix ang = dvec * scale; + double ang_norm = ang.norm(); + Eigen::Matrix Eye3 = Eigen::Matrix::Identity(); + if (ang_norm > 0.0000001) + { + Eigen::Matrix r_axis = ang / ang_norm; + Eigen::Matrix K; + K << 0.0, -r_axis(2), r_axis(1), + r_axis(2), 0.0, -r_axis(0), + -r_axis(1), r_axis(0), 0.0; // SKEW_SYM_MATRX(r_axis); + /// Roderigous Tranformation + return Eye3 + std::sin(ang_norm) * K + (1.0 - std::cos(ang_norm)) * K * K; + } + else + { + return Eye3; + } + } + /** + * Calculate the inverse of @c exp. + * Only guarantees that exp(log(x)) == x + */ + static Eigen::Vector3d log(const SO3 &orient){ + double theta = (orient.trace() > 3.0 - 1e-6) ? 0.0 : std::acos(0.5 * (orient.trace() - 1)); + Eigen::Matrix K(orient(2,1) - orient(1,2), orient(0,2) - orient(2,0), orient(1,0) - orient(0,1)); + return (std::abs(theta) < 0.001) ? (0.5 * K) : (0.5 * theta / std::sin(theta) * K); + } +}; + +namespace internal { +template +struct UnalignedType >{ + typedef SO2 type; +}; + +template +struct UnalignedType >{ + typedef SO3 type; +}; + +} // namespace internal + + +} // namespace MTK + +#endif /*SON_H_*/ + diff --git a/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/types/vect.hpp b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/types/vect.hpp new file mode 100755 index 0000000..d75e6d7 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/types/vect.hpp @@ -0,0 +1,511 @@ +// This is an advanced implementation of the algorithm described in the +// following paper: +// C. Hertzberg, R. Wagner, U. Frese, and L. Schroder. Integratinggeneric sensor fusion algorithms with sound state representationsthrough encapsulation of manifolds. +// CoRR, vol. abs/1107.1119, 2011.[Online]. Available: http://arxiv.org/abs/1107.1119 + +/* + * Copyright (c) 2019--2023, The University of Hong Kong + * All rights reserved. + * + * Modifier: Dongjiao HE + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * Copyright (c) 2008--2011, Universitaet Bremen + * All rights reserved. + * + * Author: Christoph Hertzberg + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file mtk/types/vect.hpp + * @brief Basic vectors interpreted as manifolds. + * + * This file also implements a simple wrapper for matrices, for arbitrary scalars + * and for positive scalars. + */ +#ifndef VECT_H_ +#define VECT_H_ + +#include +#include +#include + +#include "../src/vectview.hpp" + +namespace MTK { + +static const Eigen::IOFormat IO_no_spaces(Eigen::StreamPrecision, Eigen::DontAlignCols, ",", ",", "", "", "[", "]"); + + +/** + * A simple vector class. + * Implementation is basically a wrapper around Eigen::Matrix with manifold + * requirements added. + */ +template +struct vect : public Eigen::Matrix<_scalar, D, 1, _Options> { + typedef Eigen::Matrix<_scalar, D, 1, _Options> base; + enum {DOF = D, DIM = D, TYP = 0}; + typedef _scalar scalar; + + //using base::operator=; + + /** Standard constructor. Sets all values to zero. */ + vect(const base &src = base::Zero()) : base(src) {} + + /** Constructor copying the value of the expression \a other */ + template + EIGEN_STRONG_INLINE vect(const Eigen::DenseBase& other) : base(other) {} + + /** Construct from memory. */ + vect(const scalar* src, int size = DOF) : base(base::Map(src, size)) { } + + void boxplus(MTK::vectview vec, scalar scale=1) { + *this += scale * vec; + } + void boxminus(MTK::vectview res, const vect& other) const { + res = *this - other; + } + + void oplus(MTK::vectview vec, scalar scale=1) { + *this += scale * vec; + } + + void hat(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + std::cout << "wrong idx" << std::endl; + } + void Jacob_right_inv(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + std::cout << "wrong idx" << std::endl; + } + void Jacob_right(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + std::cout << "wrong idx" << std::endl; + } + + void S2_hat(Eigen::Matrix &res) + { + res = Eigen::Matrix::Zero(); + } + + void S2_Nx_yy(Eigen::Matrix &res) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + void S2_Mx(Eigen::Matrix &res, MTK::vectview delta) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + friend std::ostream& operator<<(std::ostream &os, const vect& v){ + // Eigen sometimes messes with the streams flags, so output manually: + for(int i=0; i>(std::istream &is, vect& v){ + char term=0; + is >> std::ws; // skip whitespace + switch(is.peek()) { + case '(': term=')'; is.ignore(1); break; + case '[': term=']'; is.ignore(1); break; + case '{': term='}'; is.ignore(1); break; + default: break; + } + if(D==Eigen::Dynamic) { + assert(term !=0 && "Dynamic vectors must be embraced"); + std::vector temp; + while(is.good() && is.peek() != term) { + scalar x; + is >> x; + temp.push_back(x); + if(is.peek()==',') is.ignore(1); + } + v = vect::Map(temp.data(), temp.size()); + } else + for(int i=0; i> v[i]; + if(is.peek()==',') { // ignore commas between values + is.ignore(1); + } + } + if(term!=0) { + char x; + is >> x; + if(x!=term) { + is.setstate(is.badbit); +// assert(x==term && "start and end bracket do not match!"); + } + } + return is; + } + + template + vectview tail(){ + BOOST_STATIC_ASSERT(0< dim && dim <= DOF); + return base::template tail(); + } + template + vectview tail() const{ + BOOST_STATIC_ASSERT(0< dim && dim <= DOF); + return base::template tail(); + } + template + vectview head(){ + BOOST_STATIC_ASSERT(0< dim && dim <= DOF); + return base::template head(); + } + template + vectview head() const{ + BOOST_STATIC_ASSERT(0< dim && dim <= DOF); + return base::template head(); + } +}; + + +/** + * A simple matrix class. + * Implementation is basically a wrapper around Eigen::Matrix with manifold + * requirements added, i.e., matrix is viewed as a plain vector for that. + */ +template::Options> +struct matrix : public Eigen::Matrix<_scalar, M, N, _Options> { + typedef Eigen::Matrix<_scalar, M, N, _Options> base; + enum {DOF = M * N, TYP = 4, DIM=0}; + typedef _scalar scalar; + + using base::operator=; + + /** Standard constructor. Sets all values to zero. */ + matrix() { + base::setZero(); + } + + /** Constructor copying the value of the expression \a other */ + template + EIGEN_STRONG_INLINE matrix(const Eigen::MatrixBase& other) : base(other) {} + + /** Construct from memory. */ + matrix(const scalar* src) : base(src) { } + + void boxplus(MTK::vectview vec, scalar scale = 1) { + *this += scale * base::Map(vec.data()); + } + void boxminus(MTK::vectview res, const matrix& other) const { + base::Map(res.data()) = *this - other; + } + + void hat(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + std::cout << "wrong idx" << std::endl; + } + void Jacob_right_inv(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + std::cout << "wrong idx" << std::endl; + } + void Jacob_right(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + std::cout << "wrong idx" << std::endl; + } + + void S2_hat(Eigen::Matrix &res) + { + res = Eigen::Matrix::Zero(); + } + + void oplus(MTK::vectview vec, scalar scale = 1) { + *this += scale * base::Map(vec.data()); + } + + void S2_Nx_yy(Eigen::Matrix &res) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + void S2_Mx(Eigen::Matrix &res, MTK::vectview delta) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + friend std::ostream& operator<<(std::ostream &os, const matrix& mat){ + for(int i=0; i>(std::istream &is, matrix& mat){ + for(int i=0; i> mat.data()[i]; + } + return is; + } +};// @todo What if M / N = Eigen::Dynamic? + + + +/** + * A simple scalar type. + */ +template +struct Scalar { + enum {DOF = 1, TYP = 5, DIM=0}; + typedef _scalar scalar; + + scalar value; + + Scalar(const scalar& value = scalar(0)) : value(value) {} + operator const scalar&() const { return value; } + operator scalar&() { return value; } + Scalar& operator=(const scalar& val) { value = val; return *this; } + + void S2_hat(Eigen::Matrix &res) + { + res = Eigen::Matrix::Zero(); + } + + void S2_Nx_yy(Eigen::Matrix &res) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + void S2_Mx(Eigen::Matrix &res, MTK::vectview delta) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + void oplus(MTK::vectview vec, scalar scale=1) { + value += scale * vec[0]; + } + + void boxplus(MTK::vectview vec, scalar scale=1) { + value += scale * vec[0]; + } + void boxminus(MTK::vectview res, const Scalar& other) const { + res[0] = *this - other; + } + + void hat(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + std::cout << "wrong idx" << std::endl; + } + void Jacob_right_inv(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + std::cout << "wrong idx" << std::endl; + } + void Jacob_right(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + std::cout << "wrong idx" << std::endl; + } +}; + +/** + * Positive scalars. + * Boxplus is implemented using multiplication by @f$x\boxplus\delta = x\cdot\exp(\delta) @f$. + */ +template +struct PositiveScalar { + enum {DOF = 1, TYP = 6, DIM=0}; + typedef _scalar scalar; + + scalar value; + + PositiveScalar(const scalar& value = scalar(1)) : value(value) { + assert(value > scalar(0)); + } + operator const scalar&() const { return value; } + PositiveScalar& operator=(const scalar& val) { assert(val>0); value = val; return *this; } + + void boxplus(MTK::vectview vec, scalar scale = 1) { + value *= std::exp(scale * vec[0]); + } + void boxminus(MTK::vectview res, const PositiveScalar& other) const { + res[0] = std::log(*this / other); + } + + void oplus(MTK::vectview vec, scalar scale = 1) { + value *= std::exp(scale * vec[0]); + } + + void hat(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + std::cout << "wrong idx" << std::endl; + } + void Jacob_right_inv(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + std::cout << "wrong idx" << std::endl; + } + void Jacob_right(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + std::cout << "wrong idx" << std::endl; + } + + void S2_hat(Eigen::Matrix &res) + { + res = Eigen::Matrix::Zero(); + } + + void S2_Nx_yy(Eigen::Matrix &res) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + void S2_Mx(Eigen::Matrix &res, MTK::vectview delta) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + + friend std::istream& operator>>(std::istream &is, PositiveScalar& s){ + is >> s.value; + assert(s.value > 0); + return is; + } +}; + +template +struct Complex : public std::complex<_scalar>{ + enum {DOF = 2, TYP = 7, DIM=0}; + typedef _scalar scalar; + + typedef std::complex Base; + + Complex(const Base& value) : Base(value) {} + Complex(const scalar& re = 0.0, const scalar& im = 0.0) : Base(re, im) {} + Complex(const MTK::vectview &in) : Base(in[0], in[1]) {} + template + Complex(const Eigen::DenseBase &in) : Base(in[0], in[1]) {} + + void boxplus(MTK::vectview vec, scalar scale = 1) { + Base::real() += scale * vec[0]; + Base::imag() += scale * vec[1]; + }; + void boxminus(MTK::vectview res, const Complex& other) const { + Complex diff = *this - other; + res << diff.real(), diff.imag(); + } + + void S2_hat(Eigen::Matrix &res) + { + res = Eigen::Matrix::Zero(); + } + + void hat(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + std::cout << "wrong idx" << std::endl; + } + void Jacob_right_inv(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + std::cout << "wrong idx" << std::endl; + } + void Jacob_right(Eigen::VectorXd& v, Eigen::MatrixXd &res) { + std::cout << "wrong idx" << std::endl; + } + + void oplus(MTK::vectview vec, scalar scale = 1) { + Base::real() += scale * vec[0]; + Base::imag() += scale * vec[1]; + }; + + void S2_Nx_yy(Eigen::Matrix &res) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + void S2_Mx(Eigen::Matrix &res, MTK::vectview delta) + { + std::cerr << "wrong idx for S2" << std::endl; + std::exit(100); + res = Eigen::Matrix::Zero(); + } + + scalar squaredNorm() const { + return std::pow(Base::real(),2) + std::pow(Base::imag(),2); + } + + const scalar& operator()(int i) const { + assert(0<=i && i<2 && "Index out of range"); + return i==0 ? Base::real() : Base::imag(); + } + scalar& operator()(int i){ + assert(0<=i && i<2 && "Index out of range"); + return i==0 ? Base::real() : Base::imag(); + } +}; + + +namespace internal { + +template +struct UnalignedType >{ + typedef vect type; +}; + +} // namespace internal + + +} // namespace MTK + + + + +#endif /*VECT_H_*/ diff --git a/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/types/wrapped_cv_mat.hpp b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/types/wrapped_cv_mat.hpp new file mode 100755 index 0000000..b6643f1 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/IKFoM/IKFoM_toolkit/mtk/types/wrapped_cv_mat.hpp @@ -0,0 +1,113 @@ +/* + * Copyright (c) 2010--2011, Universitaet Bremen and DFKI GmbH + * All rights reserved. + * + * Author: Rene Wagner + * Christoph Hertzberg + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Universitaet Bremen nor the DFKI GmbH + * nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific + * prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef WRAPPED_CV_MAT_HPP_ +#define WRAPPED_CV_MAT_HPP_ + +#include +#include + +namespace MTK { + +template +struct cv_f_type; + +template<> +struct cv_f_type +{ + enum {value = CV_64F}; +}; + +template<> +struct cv_f_type +{ + enum {value = CV_32F}; +}; + +/** + * cv_mat wraps a CvMat around an Eigen Matrix + */ +template +class cv_mat : public matrix +{ + typedef matrix base_type; + enum {type_ = cv_f_type::value}; + CvMat cv_mat_; + +public: + cv_mat() + { + cv_mat_ = cvMat(rows, cols, type_, base_type::data()); + } + + cv_mat(const cv_mat& oth) : base_type(oth) + { + cv_mat_ = cvMat(rows, cols, type_, base_type::data()); + } + + template + cv_mat(const Eigen::MatrixBase &value) : base_type(value) + { + cv_mat_ = cvMat(rows, cols, type_, base_type::data()); + } + + template + cv_mat& operator=(const Eigen::MatrixBase &value) + { + base_type::operator=(value); + return *this; + } + + cv_mat& operator=(const cv_mat& value) + { + base_type::operator=(value); + return *this; + } + + // FIXME: Maybe overloading operator& is not a good idea ... + CvMat* operator&() + { + return &cv_mat_; + } + const CvMat* operator&() const + { + return &cv_mat_; + } +}; + +} // namespace MTK + +#endif /* WRAPPED_CV_MAT_HPP_ */ diff --git a/src/rm_nav/rm_localization/point_lio/include/IKFoM/LICENSE b/src/rm_nav/rm_localization/point_lio/include/IKFoM/LICENSE new file mode 100644 index 0000000..d159169 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/IKFoM/LICENSE @@ -0,0 +1,339 @@ + GNU GENERAL PUBLIC LICENSE + Version 2, June 1991 + + Copyright (C) 1989, 1991 Free Software Foundation, Inc., + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The licenses for most software are designed to take away your +freedom to share and change it. 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Of course, the commands you use may +be called something other than `show w' and `show c'; they could even be +mouse-clicks or menu items--whatever suits your program. + +You should also get your employer (if you work as a programmer) or your +school, if any, to sign a "copyright disclaimer" for the program, if +necessary. Here is a sample; alter the names: + + Yoyodyne, Inc., hereby disclaims all copyright interest in the program + `Gnomovision' (which makes passes at compilers) written by James Hacker. + + , 1 April 1989 + Ty Coon, President of Vice + +This General Public License does not permit incorporating your program into +proprietary programs. If your program is a subroutine library, you may +consider it more useful to permit linking proprietary applications with the +library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. diff --git a/src/rm_nav/rm_localization/point_lio/include/IKFoM/README.md b/src/rm_nav/rm_localization/point_lio/include/IKFoM/README.md new file mode 100644 index 0000000..53a7dc5 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/IKFoM/README.md @@ -0,0 +1,489 @@ +## IKFoM +**IKFoM** (Iterated Kalman Filters on Manifolds) is a computationally efficient and convenient toolkit for deploying iterated Kalman filters on various robotic systems, especially systems operating on high-dimension manifold. It implements a manifold-embedding Kalman filter which separates the manifold structures from system descriptions and is able to be used by only defining the system in a canonical form and calling the respective steps accordingly. The current implementation supports the full iterated Kalman filtering for systems on manifold and any of its sub-manifolds, and it is extendable to other types of manifold when necessary. + + +**Developers** + +[Dongjiao He](https://github.com/Joanna-HE) + +**Our related video**: https://youtu.be/sz_ZlDkl6fA + +## 1. Prerequisites + +### 1.1. **Eigen && Boost** +Eigen >= 3.3.4, Follow [Eigen Installation](http://eigen.tuxfamily.org/index.php?title=Main_Page). + +Boost >= 1.65. + +## 2. Usage when the measurement is of constant dimension and type. +Clone the repository: + +``` + git clone https://github.com/hku-mars/IKFoM.git +``` + +1. include the necessary head file: +``` +#include +``` +2. Select and instantiate the primitive manifolds: +``` + typedef MTK::SO3 SO3; // scalar type of variable: double + typedef MTK::vect<3, double> vect3; // dimension of the defined Euclidean variable: 3 + typedef MTK::S2 S2; // length of the S2 variable: 98/10; choose e1 as the original point of rotation: 1 +``` +3. Build system state, input and measurement as compound manifolds which are composed of the primitive manifolds: +``` +MTK_BUILD_MANIFOLD(state, // name of compound manifold: state +((vect3, pos)) // ((primitive manifold type, name of variable)) +((vect3, vel)) +((SO3, rot)) +((vect3, bg)) +((vect3, ba)) +((S2, grav)) +((SO3, offset_R_L_I)) +((vect3, offset_T_L_I)) +); +``` +4. Implement the vector field that is defined as , and its differentiation , , where w=0 could be left out: +``` +Eigen::Matrix f(state &s, const input &i) { + Eigen::Matrix res = Eigen::Matrix::Zero(); + res(0) = s.vel[0]; + res(1) = s.vel[1]; + res(2) = s.vel[2]; + return res; +} +Eigen::Matrix df_dx(state &s, const input &i) //notice S2 has length of 3 and dimension of 2 { + Eigen::Matrix cov = Eigen::Matrix::Zero(); + cov.template block<3, 3>(0, 12) = Eigen::Matrix3d::Identity(); + return cov; +} +Eigen::Matrix df_dw(state &s, const input &i) { + Eigen::Matrix cov = Eigen::Matrix::Zero(); + cov.template block<3, 3>(12, 3) = -s.rot.toRotationMatrix(); + return cov; +} +``` +Those functions would be called during the ekf state predict + +5. Implement the output equation and its differentiation , : +``` +measurement h(state &s, bool &valid) // the iteration stops before convergence whenever the user set valid as false +{ + if (condition){ valid = false; + } // other conditions could be used to stop the ekf update iteration before convergence, otherwise the iteration will not stop until the condition of convergence is satisfied. + measurement h_; + h_.position = s.pos; + return h_; +} +Eigen::Matrix dh_dx(state &s) {} +Eigen::Matrix dh_dv(state &s) {} +``` +Those functions would be called during the ekf state update + +6. Instantiate an **esekf** object **kf** and initialize it with initial or default state and covariance. + +(1) initial state and covariance: +``` +state init_state; +esekfom::esekf::cov init_P; +esekfom::esekf kf(init_state,init_P); +``` +(2) default state and covariance: +``` +esekfom::esekf kf; +``` +where **process_noise_dof** is the dimension of process noise, with the type of std int, and so for **measurement_noise_dof**. + +7. Deliver the defined models, std int maximum iteration numbers **Maximum_iter**, and the std array for testing convergence **epsi** into the **esekf** object: +``` +double epsi[state_dof] = {0.001}; +fill(epsi, epsi+state_dof, 0.001); // if the absolute of innovation of ekf update is smaller than epso, the update iteration is converged +kf.init(f, df_dx, df_dw, h, dh_dx, dh_dv, Maximum_iter, epsi); +``` +8. In the running time, once an input **in** is received with time interval **dt**, a propagation is executed: +``` +kf.predict(dt, Q, in); // process noise covariance: Q, an Eigen matrix +``` +9. Once a measurement **z** is received, an iterated update is executed: +``` +kf.update_iterated(z, R); // measurement noise covariance: R, an Eigen matrix +``` +*Remarks(1):* +- We also combine the output equation and its differentiation into an union function, whose usage is the same as the above steps 1-4, and steps 5-9 are shown as follows. + +5. Implement the output equation and its differentiation , : +``` +measurement h_share(state &s, esekfom::share_datastruct &share_data) +{ + if(share_data.converge) {} // this value is true means iteration is converged + if(condition) share_data.valid = false; // the iteration stops before convergence when this value is false if other conditions are satified + share_data.h_x = H_x; // H_x is the result matrix of the first differentiation + share_data.h_v = H_v; // H_v is the result matrix of the second differentiation + share_data.R = R; // R is the measurement noise covariance + share_data.z = z; // z is the obtained measurement + + measurement h_; + h_.position = s.pos; + return h_; +} +``` +This function would be called during ekf state update, and the output function and its derivatives, the measurement and the measurement noise would be obtained from this one union function + +6. Instantiate an **esekf** object **kf** and initialize it with initial or default state and covariance. + +(1) initial state and covariance: +``` +state init_state; +esekfom::esekf::cov init_P; +esekfom::esekf kf(init_state,init_P); +``` +(2) default state and covariance: +``` +esekfom::esekf kf; +``` +7. Deliver the defined models, std int maximum iteration numbers **Maximum_iter**, and the std array for testing convergence **epsi** into the **esekf** object: +``` +double epsi[state_dof] = {0.001}; +fill(epsi, epsi+state_dof, 0.001); // if the absolute of innovation of ekf update is smaller than epso, the update iteration is converged +kf.init_share(f, df_dx, df_dw, h_share, Maximum_iter, epsi); +``` +8. In the running time, once an input **in** is received with time interval **dt**, a propagation is executed: +``` +kf.predict(dt, Q, in); // process noise covariance: Q +``` +9. Once a measurement **z** is received, an iterated update is executed: +``` +kf.update_iterated_share(); +``` + +*Remarks(2):* +- The value of the state **x** and the covariance **P** are able to be changed by functions **change_x()** and **change_P()**: +``` +state set_x; +kf.change_x(set_x); +esekfom::esekf::cov set_P; +kf.change_P(set_P); +``` + +## 3. Usage when the measurement is an Eigen vector of changing dimension. + +Clone the repository: + +``` + git clone https://github.com/hku-mars/IKFoM.git +``` + +1. include the necessary head file: +``` +#include +``` +2. Select and instantiate the primitive manifolds: +``` + typedef MTK::SO3 SO3; // scalar type of variable: double + typedef MTK::vect<3, double> vect3; // dimension of the defined Euclidean variable: 3 + typedef MTK::S2 S2; // length of the S2 variable: 98/10; choose e1 as the original point of rotation: 1 +``` +3. Build system state and input as compound manifolds which are composed of the primitive manifolds: +``` +MTK_BUILD_MANIFOLD(state, // name of compound manifold: state +((vect3, pos)) // ((primitive manifold type, name of variable)) +((vect3, vel)) +((SO3, rot)) +((vect3, bg)) +((vect3, ba)) +((S2, grav)) +((SO3, offset_R_L_I)) +((vect3, offset_T_L_I)) +); +``` +4. Implement the vector field that is defined as , and its differentiation , , where w=0 could be left out: +``` +Eigen::Matrix f(state &s, const input &i) { + Eigen::Matrix res = Eigen::Matrix::Zero(); + res(0) = s.vel[0]; + res(1) = s.vel[1]; + res(2) = s.vel[2]; + return res; +} +Eigen::Matrix df_dx(state &s, const input &i) //notice S2 has length of 3 and dimension of 2 { + Eigen::Matrix cov = Eigen::Matrix::Zero(); + cov.template block<3, 3>(0, 12) = Eigen::Matrix3d::Identity(); + return cov; +} +Eigen::Matrix df_dw(state &s, const input &i) { + Eigen::Matrix cov = Eigen::Matrix::Zero(); + cov.template block<3, 3>(12, 3) = -s.rot.toRotationMatrix(); + return cov; +} +``` +Those functions would be called during ekf state predict + +5. Implement the output equation and its differentiation , : +``` +Eigen::Matrix h(state &s, bool &valid) //the iteration stops before convergence when valid is false { + if (condition){ valid = false; + } // other conditions could be used to stop the ekf update iteration before convergence, otherwise the iteration will not stop until the condition of convergence is satisfied. + Eigen::Matrix h_; + h_(0) = s.pos[0]; + return h_; +} +Eigen::Matrix dh_dx(state &s) {} +Eigen::Matrix dh_dv(state &s) {} +``` +Those functions would be called during ekf state update + +6. Instantiate an **esekf** object **kf** and initialize it with initial or default state and covariance. + +(1) initial state and covariance: +``` +state init_state; +esekfom::esekf::cov init_P; +esekfom::esekf kf(init_state,init_P); +``` +(2) default state and covariance: +``` +esekfom::esekf kf; +``` +where **process_noise_dof** is the dimension of process noise, with the type of std int, and so for **measurement_noise_dof** + +7. Deliver the defined models, std int maximum iteration numbers **Maximum_iter**, and the std array for testing convergence **epsi** into the **esekf** object: +``` +double epsi[state_dof] = {0.001}; +fill(epsi, epsi+state_dof, 0.001); // if the absolute of innovation of ekf update is smaller than epso, the update iteration is converged +kf.init_dyn(f, df_dx, df_dw, h, dh_dx, dh_dv, Maximum_iter, epsi); +``` +8. In the running time, once an input **in** is received with time interval **dt**, a propagation is executed: +``` +kf.predict(dt, Q, in); // process noise covariance: Q, an Eigen matrix +``` +9. Once a measurement **z** is received, an iterated update is executed: +``` +kf.update_iterated_dyn(z, R); // measurement noise covariance: R, an Eigen matrix +``` +*Remarks(1):* +- We also combine the output equation and its differentiation into an union function, whose usage is the same as the above steps 1-4, and steps 5-9 are shown as follows. +5. Implement the output equation and its differentiation , : +``` +Eigen::Matrix h_dyn_share(state &s, esekfom::dyn_share_datastruct &dyn_share_data) +{ + if(dyn_share_data.converge) {} // this value is true means iteration is converged + if(condition) share_data.valid = false; // the iteration stops before convergence when this value is false if other conditions are satified + dyn_share_data.h_x = H_x; // H_x is the result matrix of the first differentiation + dyn_share_data.h_v = H_v; // H_v is the result matrix of the second differentiation + dyn_share_data.R = R; // R is the measurement noise covariance + dyn_share_data.z = z; // z is the obtained measurement + + Eigen::Matrix h_; + h_(0) = s.pos[0]; + return h_; +} +This function would be called during ekf state update, and the output function and its derivatives, the measurement and the measurement noise would be obtained from this one union function +``` +6. Instantiate an **esekf** object **kf** and initialize it with initial or default state and covariance. +(1) initial state and covariance: +``` +state init_state; +esekfom::esekf::cov init_P; +esekfom::esekf kf(init_state,init_P); +``` +(2) default state and covariance: +``` +esekfom::esekf kf; +``` +7. Deliver the defined models, std int maximum iteration numbers **Maximum_iter**, and the std array for testing convergence **epsi** into the **esekf** object: +``` +double epsi[state_dof] = {0.001}; +fill(epsi, epsi+state_dof, 0.001); // if the absolute of innovation of ekf update is smaller than epso, the update iteration is converged +kf.init_dyn_share(f, df_dx, df_dw, h_dyn_share, Maximum_iter, epsi); +``` +8. In the running time, once an input **in** is received with time interval **dt**, a propagation is executed: +``` +kf.predict(dt, Q, in); // process noise covariance: Q, an Eigen matrix +``` +9. Once a measurement **z** is received, an iterated update is executed: +``` +kf.update_iterated_dyn_share(); +``` + +*Remarks(2):* +- The value of the state **x** and the covariance **P** are able to be changed by functions **change_x()** and **change_P()**: +``` +state set_x; +kf.change_x(set_x); +esekfom::esekf::cov set_P; +kf.change_P(set_P); +``` + +## 4. Usage when the measurement is a changing manifold during the run time. + +Clone the repository: + +``` + git clone https://github.com/hku-mars/IKFoM.git +``` + +1. include the necessary head file: +``` +#include +``` +2. Select and instantiate the primitive manifolds: +``` + typedef MTK::SO3 SO3; // scalar type of variable: double + typedef MTK::vect<3, double> vect3; // dimension of the defined Euclidean variable: 3 + typedef MTK::S2 S2; // length of the S2 variable: 98/10; choose e1 as the original point of rotation: 1 +``` +3. Build system state and input as compound manifolds which are composed of the primitive manifolds: +``` +MTK_BUILD_MANIFOLD(state, // name of compound manifold: state +((vect3, pos)) // ((primitive manifold type, name of variable)) +((vect3, vel)) +((SO3, rot)) +((vect3, bg)) +((vect3, ba)) +((S2, grav)) +((SO3, offset_R_L_I)) +((vect3, offset_T_L_I)) +); +``` +4. Implement the vector field that is defined as , and its differentiation , , where w=0 could be left out: +``` +Eigen::Matrix f(state &s, const input &i) { + Eigen::Matrix res = Eigen::Matrix::Zero(); + res(0) = s.vel[0]; + res(1) = s.vel[1]; + res(2) = s.vel[2]; + return res; +} +Eigen::Matrix df_dx(state &s, const input &i) //notice S2 has length of 3 and dimension of 2 { + Eigen::Matrix cov = Eigen::Matrix::Zero(); + cov.template block<3, 3>(0, 12) = Eigen::Matrix3d::Identity(); + return cov; +} +Eigen::Matrix df_dw(state &s, const input &i) { + Eigen::Matrix cov = Eigen::Matrix::Zero(); + cov.template block<3, 3>(12, 3) = -s.rot.toRotationMatrix(); + return cov; +} +``` +Those functions would be called during ekf state predict + +5. Implement the differentiation of the output equation , : +``` +Eigen::Matrix dh_dx(state &s, bool &valid) {} //the iteration stops before convergence when valid is false +Eigen::Matrix dh_dv(state &s, bool &valid) {} +``` +Those functions would be called during ekf state update + +6. Instantiate an **esekf** object **kf** and initialize it with initial or default state and covariance. + +(1) initial state and covariance: +``` +state init_state; +esekfom::esekf::cov init_P; +esekfom::esekf kf(init_state,init_P); +``` +(2) +``` +esekfom::esekf kf; +``` +Where **process_noise_dof** is the dimension of process noise, of type of std int + +7. Deliver the defined models, std int maximum iteration numbers **Maximum_iter**, and the std array for testing convergence **epsi** into the **esekf** object: +``` +double epsi[state_dof] = {0.001}; +fill(epsi, epsi+state_dof, 0.001); // if the absolute of innovation of ekf update is smaller than epso, the update iteration is converged +kf.init_dyn_runtime(f, df_dx, df_dw, dh_dx, dh_dv, Maximum_iter, epsi); +``` +8. In the running time, once an input **in** is received with time interval **dt**, a propagation is executed: +``` +kf.predict(dt, Q, in); // process noise covariance: Q +``` +9. Once a measurement **z** is received, build system measurement as compound manifolds following step 3 and implement the output equation : +``` +measurement h(state &s, bool &valid) //the iteration stops before convergence when valid is false +{ + if (condition) valid = false; // the update iteration could be stopped when the condition other than convergence is satisfied + measurement h_; + h_.pos = s.pos; + return h_; +} +``` +then an iterated update is executed: +``` +kf.update_iterated_dyn_runtime(z, R, h); // measurement noise covariance: R, an Eigen matrix +``` +*Remarks(1):* +- We also combine the output equation and its differentiation into an union function, whose usage is the same as the above steps 1-4, and steps 5-9 are shown as follows. +5. Instantiate an **esekf** object **kf** and initialize it with initial or default state and covariance. + +(1) initial state and covariance: +``` +state init_state; +esekfom::esekf::cov init_P; +esekfom::esekf kf(init_state,init_P); +``` +(2) default state and covariance: +``` +esekfom::esekf kf; +``` +6. Deliver the defined models, std int maximum iteration numbers **Maximum_iter**, and the std array for testing convergence **epsi** into the **esekf** object: +``` +double epsi[state_dof] = {0.001}; +fill(epsi, epsi+state_dof, 0.001); // if the absolute of innovation of ekf update is smaller than epso, the update iteration is converged +kf.init_dyn_runtime_share(f, df_dx, df_dw, Maximum_iter, epsi); +``` +7. In the running time, once an input **in** is received with time interval **dt**, a propagation is executed: +``` +kf.predict(dt, Q, in); // process noise covariance: Q. an Eigen matrix +``` +8. Once a measurement **z** is received, build system measurement as compound manifolds following step 3 and implement the output equation and its differentiation , : +``` +measurement h_dyn_runtime_share(state &s, esekfom::dyn_runtime_share_datastruct &dyn_runtime_share_data) +{ + if(dyn_runtime_share_data.converge) {} // this value is true means iteration is converged + if(condition) dyn_runtime_share_data.valid = false; // the iteration stops before convergence when this value is false, if conditions other than convergence is satisfied + dyn_runtime_share_data.h_x = H_x; // H_x is the result matrix of the first differentiation + dyn_runtime_share_data.h_v = H_v; // H_v is the result matrix of the second differentiation + dyn_runtime_share_data.R = R; // R is the measurement noise covariance + + measurement h_; + h_.pos = s.pos; + return h_; +} +``` +This function would be called during ekf state update, and the output function and its derivatives, the measurement and the measurement noise would be obtained from this one union function + +then an iterated update is executed: +``` +kf.update_iterated_dyn_runtime_share(z, h_dyn_runtime_share); +``` + +*Remarks(2):* +- The value of the state **x** and the covariance **P** are able to be changed by functions **change_x()** and **change_P()**: +``` +state set_x; +kf.change_x(set_x); +esekfom::esekf::cov set_P; +kf.change_P(set_P); +``` + +## 5. Run the sample +Clone the repository: + +``` + git clone https://github.com/hku-mars/IKFoM.git +``` +In the **Samples** file folder, there is the scource code that applys the **IKFoM** on the original source code from [FAST LIO](https://github.com/hku-mars/FAST_LIO). Please follow the README.md shown in that repository excepting the step **2. Build**, which is modified as: +``` +cd ~/catkin_ws/src +cp -r ~/IKFoM/Samples/FAST_LIO-stable FAST_LIO-stable +cd .. +catkin_make +source devel/setup.bash +``` + +## 6.Acknowledgments +Thanks for C. Hertzberg, R. Wagner, U. Frese, and L. Schroder. Integratinggeneric sensor fusion algorithms with sound state representationsthrough encapsulation of manifolds. + diff --git a/src/rm_nav/rm_localization/point_lio/include/common_lib.h b/src/rm_nav/rm_localization/point_lio/include/common_lib.h new file mode 100755 index 0000000..02eb7ec --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/common_lib.h @@ -0,0 +1,248 @@ +#ifndef COMMON_LIB_H +#define COMMON_LIB_H + +#include +#include +#include +#include +#include +#include +#include +#include <../include/IKFoM/IKFoM_toolkit/esekfom/esekfom.hpp> +#include + +using namespace std; +using namespace Eigen; + + +typedef MTK::vect<3, double> vect3; +typedef MTK::SO3 SO3; +typedef MTK::S2 S2; +typedef MTK::vect<1, double> vect1; +typedef MTK::vect<2, double> vect2; + +MTK_BUILD_MANIFOLD(state_input, +((vect3, pos)) +((SO3, rot)) +((SO3, offset_R_L_I)) +((vect3, offset_T_L_I)) +((vect3, vel)) +((vect3, bg)) +((vect3, ba)) +((vect3, gravity)) +); + +MTK_BUILD_MANIFOLD(state_output, +((vect3, pos)) +((SO3, rot)) +((SO3, offset_R_L_I)) +((vect3, offset_T_L_I)) +((vect3, vel)) +((vect3, omg)) +((vect3, acc)) +((vect3, gravity)) +((vect3, bg)) +((vect3, ba)) +); + +MTK_BUILD_MANIFOLD(input_ikfom, +((vect3, acc)) +((vect3, gyro)) +); + +MTK_BUILD_MANIFOLD(process_noise_input, +((vect3, ng)) +((vect3, na)) +((vect3, nbg)) +((vect3, nba)) +); + +MTK_BUILD_MANIFOLD(process_noise_output, +((vect3, vel)) +((vect3, ng)) +((vect3, na)) +((vect3, nbg)) +((vect3, nba)) +); + +extern esekfom::esekf kf_input; +extern esekfom::esekf kf_output; + +#define PBWIDTH 30 +#define PBSTR "||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||" + +#define PI_M (3.14159265358) +// #define G_m_s2 (9.81) // Gravaty const in GuangDong/China +#define DIM_STATE (24) // Dimension of states (Let Dim(SO(3)) = 3) +#define DIM_PROC_N (12) // Dimension of process noise (Let Dim(SO(3)) = 3) +#define CUBE_LEN (6.0) +#define LIDAR_SP_LEN (2) +#define INIT_COV (0.0001) +#define NUM_MATCH_POINTS (5) +#define MAX_MEAS_DIM (10000) + +#define VEC_FROM_ARRAY(v) v[0],v[1],v[2] +#define VEC_FROM_ARRAY_SIX(v) v[0],v[1],v[2],v[3],v[4],v[5] +#define MAT_FROM_ARRAY(v) v[0],v[1],v[2],v[3],v[4],v[5],v[6],v[7],v[8] +#define CONSTRAIN(v,min,max) ((v>min)?((v (mat.data(), mat.data() + mat.rows() * mat.cols()) +#define DEBUG_FILE_DIR(name) (string(string(ROOT_DIR) + "Log/"+ name)) + +typedef pcl::PointXYZINormal PointType; +typedef pcl::PointXYZRGB PointTypeRGB; +typedef pcl::PointCloud PointCloudXYZI; +typedef pcl::PointCloud PointCloudXYZRGB; +typedef vector> PointVector; +typedef Vector3d V3D; +typedef Matrix3d M3D; +typedef Vector3f V3F; +typedef Matrix3f M3F; + +#define MD(a,b) Matrix +#define VD(a) Matrix +#define MF(a,b) Matrix +#define VF(a) Matrix + +const M3D Eye3d(M3D::Identity()); +const M3F Eye3f(M3F::Identity()); +const V3D Zero3d(0, 0, 0); +const V3F Zero3f(0, 0, 0); + +struct MeasureGroup // Lidar data and imu dates for the curent process +{ + MeasureGroup() + { + lidar_beg_time = 0.0; + lidar_last_time = 0.0; + this->lidar.reset(new PointCloudXYZI()); + }; + double lidar_beg_time; + double lidar_last_time; + PointCloudXYZI::Ptr lidar; + deque imu; +}; + +template +T calc_dist(PointType p1, PointType p2){ + T d = (p1.x - p2.x) * (p1.x - p2.x) + (p1.y - p2.y) * (p1.y - p2.y) + (p1.z - p2.z) * (p1.z - p2.z); + return d; +} + +template +T calc_dist(Eigen::Vector3d p1, PointType p2){ + T d = (p1(0) - p2.x) * (p1(0) - p2.x) + (p1(1) - p2.y) * (p1(1) - p2.y) + (p1(2) - p2.z) * (p1(2) - p2.z); + return d; +} + +template +std::vector time_compressing(const PointCloudXYZI::Ptr &point_cloud) +{ + int points_size = point_cloud->points.size(); + int j = 0; + std::vector time_seq; + // time_seq.clear(); + time_seq.reserve(points_size); + for(int i = 0; i < points_size - 1; i++) + { + j++; + if (point_cloud->points[i+1].curvature > point_cloud->points[i].curvature) + { + time_seq.emplace_back(j); + j = 0; + } + } +// if (j == 0) +// { +// time_seq.emplace_back(1); +// } +// else + { + time_seq.emplace_back(j+1); + } + return time_seq; +} + +/* comment +plane equation: Ax + By + Cz + D = 0 +convert to: A/D*x + B/D*y + C/D*z = -1 +solve: A0*x0 = b0 +where A0_i = [x_i, y_i, z_i], x0 = [A/D, B/D, C/D]^T, b0 = [-1, ..., -1]^T +normvec: normalized x0 +*/ +template +bool esti_normvector(Matrix &normvec, const PointVector &point, const T &threshold, const int &point_num) +{ + MatrixXf A(point_num, 3); + MatrixXf b(point_num, 1); + b.setOnes(); + b *= -1.0f; + + for (int j = 0; j < point_num; j++) + { + A(j,0) = point[j].x; + A(j,1) = point[j].y; + A(j,2) = point[j].z; + } + normvec = A.colPivHouseholderQr().solve(b); + + for (int j = 0; j < point_num; j++) + { + if (fabs(normvec(0) * point[j].x + normvec(1) * point[j].y + normvec(2) * point[j].z + 1.0f) > threshold) + { + return false; + } + } + + normvec.normalize(); + return true; +} + +template +bool esti_plane(Matrix &pca_result, const PointVector &point, const T &threshold) +{ + Matrix A; + Matrix b; + A.setZero(); + b.setOnes(); + b *= -1.0f; + + for (int j = 0; j < NUM_MATCH_POINTS; j++) + { + A(j,0) = point[j].x; + A(j,1) = point[j].y; + A(j,2) = point[j].z; + } + + Matrix normvec = A.colPivHouseholderQr().solve(b); + + T n = normvec.norm(); + pca_result(0) = normvec(0) / n; + pca_result(1) = normvec(1) / n; + pca_result(2) = normvec(2) / n; + pca_result(3) = 1.0 / n; + + for (int j = 0; j < NUM_MATCH_POINTS; j++) + { + if (fabs(pca_result(0) * point[j].x + pca_result(1) * point[j].y + pca_result(2) * point[j].z + pca_result(3)) > threshold) + { + return false; + } + } + return true; +} + +inline double get_time_sec(const builtin_interfaces::msg::Time &time) +{ + return rclcpp::Time(time).seconds(); +} + +inline rclcpp::Time get_ros_time(double timestamp) +{ + int32_t sec = std::floor(timestamp); + auto nanosec_d = (timestamp - std::floor(timestamp)) * 1e9; + uint32_t nanosec = nanosec_d; + return rclcpp::Time(sec, nanosec); +} + +#endif \ No newline at end of file diff --git a/src/rm_nav/rm_localization/point_lio/include/ivox/eigen_types.h b/src/rm_nav/rm_localization/point_lio/include/ivox/eigen_types.h new file mode 100755 index 0000000..51aa389 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/ivox/eigen_types.h @@ -0,0 +1,84 @@ +// +// Created by xiang on 2021/7/16. +// + +#ifndef FASTER_LIO_EIGEN_TYPES_H +#define FASTER_LIO_EIGEN_TYPES_H + +#include +#include +#include + +/// alias for eigen +using Vec2i = Eigen::Vector2i; +using Vec3i = Eigen::Vector3i; + +using Vec2d = Eigen::Vector2d; +using Vec2f = Eigen::Vector2f; +using Vec3d = Eigen::Vector3d; +using Vec3f = Eigen::Vector3f; +using Vec5d = Eigen::Matrix; +using Vec5f = Eigen::Matrix; +using Vec6d = Eigen::Matrix; +using Vec6f = Eigen::Matrix; +using Vec15d = Eigen::Matrix; + +using Mat1d = Eigen::Matrix; +using Mat3d = Eigen::Matrix3d; +using Mat3f = Eigen::Matrix3f; +using Mat4d = Eigen::Matrix4d; +using Mat4f = Eigen::Matrix4f; +using Mat5d = Eigen::Matrix; +using Mat5f = Eigen::Matrix; +using Mat6d = Eigen::Matrix; +using Mat6f = Eigen::Matrix; +using Mat15d = Eigen::Matrix; + +using Quatd = Eigen::Quaterniond; +using Quatf = Eigen::Quaternionf; + +namespace faster_lio { + +/// less of vector +template +struct less_vec { + inline bool operator()(const Eigen::Matrix& v1, const Eigen::Matrix& v2) const; +}; + +/// hash of vector +template +struct hash_vec { + inline size_t operator()(const Eigen::Matrix& v) const; +}; + +/// implementation +template <> +inline bool less_vec<2>::operator()(const Eigen::Matrix& v1, const Eigen::Matrix& v2) const { + return v1[0] < v2[0] || (v1[0] == v2[0] && v1[1] < v2[1]); +} + +template <> +inline bool less_vec<3>::operator()(const Eigen::Matrix& v1, const Eigen::Matrix& v2) const { + return v1[0] < v2[0] || (v1[0] == v2[0] && v1[1] < v2[1]) && (v1[0] == v2[0] && v1[1] == v2[1] && v1[2] < v2[2]); +} + +/// vec 2 hash +/// @see Optimized Spatial Hashing for Collision Detection of Deformable Objects, Matthias Teschner et. al., VMV 2003 +template <> +inline size_t hash_vec<2>::operator()(const Eigen::Matrix& v) const { + return size_t(((v[0]) * 73856093) ^ ((v[1]) * 471943)) % 10000000; +} + +/// vec 3 hash +template <> +inline size_t hash_vec<3>::operator()(const Eigen::Matrix& v) const { + return size_t(((v[0]) * 73856093) ^ ((v[1]) * 471943) ^ ((v[2]) * 83492791)) % 10000000; +} + +// constexpr auto less_vec2i = [](const Vec2i& v1, const Vec2i& v2) { +// return v1[0] < v2[0] || (v1[0] == v2[0] && v1[1] < v2[1]); +// }; + +} // namespace faster_lio + +#endif diff --git a/src/rm_nav/rm_localization/point_lio/include/ivox/hilbert.hpp b/src/rm_nav/rm_localization/point_lio/include/ivox/hilbert.hpp new file mode 100755 index 0000000..f785965 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/ivox/hilbert.hpp @@ -0,0 +1,830 @@ +// 2021-09-18, https://github.com/spectral3d/hilbert_hpp is under MIT license. + +//Copyright (c) 2019 David Beynon +// +//Permission is hereby granted, free of charge, to any person obtaining a copy +//of this software and associated documentation files (the "Software"), to deal +//in the Software without restriction, including without limitation the rights +//to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +//copies of the Software, and to permit persons to whom the Software is +//furnished to do so, subject to the following conditions: +// +//The above copyright notice and this permission notice shall be included in all +//copies or substantial portions of the Software. +// +//THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +//IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +//FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +//AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +//LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +//OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +//SOFTWARE. + +#ifndef INCLUDED_HILBERT_HPP +#define INCLUDED_HILBERT_HPP +#pragma once + +#include +#include +#include +#include +#include + +// Version 1.1 - 29 August 2019 + +// +// N dimensional hilbert curve encoding & decoding based on the paper +// "Programming the Hilbert Curve" by John Skilling. +// +// The interface assumes an std::array of some unsigned integer type. This +// contains an index in lexographic order, or a set of coordinates on the +// hilbert curve. +// +// Two implementations are included. +// +// hilbert::v1 contains a fairly straightforward implementation of the paper, +// with standard looping constructs. +// +// hilbert::v2 performs uses template metaprogramming to unroll loops and +// theoretically improve performance on some systems. +// +// v1 produces smaller code, which may be more performant on machines with +// small caches. v2 produces relatively large code that seems more efficient +// on modern systems for dimension up to about 100. +// +// v2 should be built with -O3 for best results. -O0 is extremely slow +// on most systems. +// + + +// Interface is as follows: +// +// Find the position of a point on an N dimensional Hilbert Curve. +// +// Based on the paper "Programming the Hilbert Curve" by John Skilling. +// +// Index is encoded with most significant objects first. Lexographic +// sort order. +//template +//std::array +//IndexToPosition(std::array const &in); + +// Find the index of a point on an N dimensional Hilbert Curve. +// +// Based on the paper "Programming the Hilbert Curve" by John Skilling. +// +// Index is encoded with most significant objects first. Lexographic +// sort order. +//template +//std::array +//PositionToIndex(std::array const &in); +// + + +namespace hilbert +{ + // Fairly straightforward implementation. Loops are loops and code mostly + // does what one would expect. + namespace v1 + { + namespace internal + { + // Extract bits from transposed form. + // + // e.g. + // + // a d g j a b c d + // b e h k -> e f g h + // c f i l i j k l + // + template + std::array + UntransposeBits(std::array const &in) + { + const size_t bits = std::numeric_limits::digits; + const T high_bit(T(1) << (bits - 1)); + const size_t bit_count(bits * N); + + std::array out; + + std::fill(out.begin(), out.end(), 0); + + // go through all bits in input, msb first. Shift distances are + // from msb. + for(size_t b=0;b> dst_bit); + } + + return out; + } + + // Pack bits into transposed form. + // + // e.g. + // + // a b c d a d g j + // e f g h -> b e h k + // i j k l c f i l + // + template + std::array + TransposeBits(std::array const &in) + { + const size_t bits = std::numeric_limits::digits; + const T high_bit(T(1) << (bits - 1)); + const size_t bit_count(bits * N); + + std::array out; + + std::fill(out.begin(), out.end(), 0); + + // go through all bits in input, msb first. Shift distances + // are from msb. + for(size_t b=0;b> dst_bit); + } + + return out; + } + } + + // + // Public interfaces. + // + + // Find the position of a point on an N dimensional Hilbert Curve. + // + // Based on the paper "Programming the Hilbert Curve" by John Skilling. + // + // Index is encoded with most significant objects first. Lexographic + // sort order. + template + std::array + IndexToPosition( + std::array const &in) + { + // First convert index to transpose. + std::array out(internal::TransposeBits(in)); + + // Initial gray encoding of transposed vector. + { + T tmp = out[N-1] >> 1; + + for(size_t n=N-1;n;n--) + { + out[n]^= out[n-1]; + } + + out[0]^= tmp; + } + + // Apply transforms to gray code. + { + T cur_bit(2), + low_bits; + + while(cur_bit) + { + low_bits = cur_bit - 1; + + size_t n(N); + + do + { + n--; + if(out[n] & cur_bit) + { + // flip low bits of X + out[0]^= low_bits; + } + else + { + // swap low bits with X + T t((out[n] ^ out[0]) & low_bits); + out[n]^= t; + out[0]^= t; + } + } + while(n); + + cur_bit<<= 1; + } + } + + return out; + } + + // Find the index of a point on an N dimensional Hilbert Curve. + // + // Based on the paper "Programming the Hilbert Curve" by John Skilling. + // + // Index is encoded with most significant objects first. Lexographic + // sort order. + template + std::array + PositionToIndex(std::array const &in) + { + const size_t bits = std::numeric_limits::digits; + + std::array out(in); + + // reverse transforms to convert into transposed gray code. + { + T cur_bit(T(1) << (bits - 1)), + low_bits; + + do + { + low_bits = cur_bit - 1; + + for(size_t n=0;n>= 1; + } while(low_bits > 1); + } + + // Remove gray code from transposed vector. + { + T cur_bit(T(1) << (bits - 1)), + t(0); + + for(size_t n=1;n>= 1; + } while(cur_bit > 1); + + for(auto &v : out) + { + v^= t; + } + } + + return internal::UntransposeBits(out); + } + } // namespace v1 + + // Implementation using metaprogramming to unroll most loops. + // Optimised performance should be superior to v1 provided all code remains + // in cache etc. + // + // At some value of N v1 should overtake v2. + namespace v2 + { + namespace internal + { + // Metaprogramming guts. Unrolled loops, abandon all hope etc. + namespace tmp + { + template + T + TransposeBits2( + std::array const &, + std::integral_constant, + std::integral_constant) + { + return T(0); + } + + template + T + TransposeBits2( + std::array const &in, + std::integral_constant, + std::integral_constant) + { + const size_t size = std::numeric_limits::digits; + const size_t src = ((D + ((size - B) * N)) / size); + const size_t src_bit = + size - (1+((D + ((size - B) * N)) % size)); + const T src_bit_val = T(1) << src_bit; + const size_t dst_bit = (B - 1); + const T dst_bit_val = T(1) << dst_bit; + + // Multiply rather than shift to avoid clang implicit + // conversion warning. + T bit = ((in[src] & src_bit_val) >> src_bit) * dst_bit_val; + + return bit + TransposeBits2( + in, + std::integral_constant(), + std::integral_constant()); + } + + template + void + TransposeBits( + std::array const &, + std::array &, + std::integral_constant) + { + } + + template + void + TransposeBits( + std::array const &in, + std::array &out, + std::integral_constant) + { + out[D-1] = TransposeBits2( + in, + std::integral_constant(), + std::integral_constant< + size_t, + std::numeric_limits::digits>()); + + TransposeBits( + in, + out, + std::integral_constant()); + } + + + template + T + UntransposeBits2( + std::array const &, + std::integral_constant, + std::integral_constant) + { + return T(0); + } + + template + T + UntransposeBits2( + std::array const &in, + std::integral_constant, + std::integral_constant) + { + const size_t size = std::numeric_limits::digits; + const size_t src = ((D * size) + (size - B)) % N; + const size_t src_bit = + size - (((((D * size) + (size - B))) / N) + 1); + const T src_bit_val = T(1) << src_bit; + const size_t dst_bit(B - 1); + const T dst_bit_val = T(1) << dst_bit; + + // Multiply rather than shift to avoid clang implicit + // conversion warning. + T bit = ((in[src] & src_bit_val) >> src_bit) * dst_bit_val; + + return bit + UntransposeBits2( + in, + std::integral_constant(), + std::integral_constant()); + } + + template + void + UntransposeBits( + std::array const &, + std::array &, + std::integral_constant) + { + } + + template + void + UntransposeBits( + std::array const &in, + std::array &out, + std::integral_constant) + { + out[D-1] = UntransposeBits2( + in, + std::integral_constant(), + std::integral_constant< + size_t, + std::numeric_limits::digits>()); + + UntransposeBits( + in, + out, + std::integral_constant()); + } + + template + void + ApplyGrayCode1( + std::array const &in, + std::array &out, + std::integral_constant) + { + out[0]^= in[N-1] >> 1; + } + + template + void + ApplyGrayCode1( + std::array const &in, + std::array &out, + std::integral_constant) + { + out[I]^= out[I-1]; + + ApplyGrayCode1( + in, + out, + std::integral_constant()); + } + + // Remove a gray code from a transposed vector + template + void + RemoveGrayCode1( + std::array &, + std::integral_constant) + { + } + + // xor array values with previous values. + template + void + RemoveGrayCode1( + std::array &in, + std::integral_constant) + { + const size_t src_idx = N - (D + 1); + const size_t dst_idx = N - D; + + in[dst_idx]^= in[src_idx]; + + RemoveGrayCode1(in, std::integral_constant()); + } + + template + T RemoveGrayCode2(T, std::integral_constant) + { + return T(0); + } + + template + T RemoveGrayCode2(T v, std::integral_constant) + { + const T cur_bit(T(1) << (B-1)); + const T low_bits(cur_bit - 1); + + if(v & cur_bit) + { + return low_bits ^ RemoveGrayCode2( + v, + std::integral_constant()); + } + else + { + return RemoveGrayCode2( + v, + std::integral_constant()); + } + } + + template + void + GrayToHilbert2( + std::array &, + std::integral_constant, + std::integral_constant) + { + } + + template + void + GrayToHilbert2( + std::array &out, + std::integral_constant, + std::integral_constant) + { + const size_t n(I-1); + const T cur_bit(T(1) << (std::numeric_limits::digits - B)); + const T low_bits(cur_bit - 1); + + if(out[n] & cur_bit) + { + // flip low bits of X + out[0]^= low_bits; + } + else + { + // swap low bits with X + T t((out[n] ^ out[0]) & low_bits); + out[n]^= t; + out[0]^= t; + } + + GrayToHilbert2( + out, + std::integral_constant(), + std::integral_constant()); + } + + template + void + GrayToHilbert( + std::array &, + std::integral_constant) + { + } + + template + void + GrayToHilbert( + std::array &out, + std::integral_constant) + { + GrayToHilbert2( + out, + std::integral_constant(), + std::integral_constant()); + + GrayToHilbert(out, std::integral_constant()); + } + + template + void + HilbertToGray2( + std::array &, + std::integral_constant, + std::integral_constant) + { + } + + template + void + HilbertToGray2( + std::array &out, + std::integral_constant, + std::integral_constant) + { + const size_t cur_bit(T(1) << B); + const size_t low_bits(cur_bit-1); + const size_t n(N-I); + + if(out[n] & cur_bit) + { + // flip low bits of X + out[0]^= low_bits; + } + else + { + // swap low bits with X + T t((out[n] ^ out[0]) & low_bits); + out[n]^= t; + out[0]^= t; + } + + HilbertToGray2( + out, + std::integral_constant(), + std::integral_constant()); + } + + template + void + HilbertToGray( + std::array &, + std::integral_constant) + { + } + + template + void + HilbertToGray( + std::array &out, + std::integral_constant) + { + HilbertToGray2( + out, + std::integral_constant(), + std::integral_constant()); + + HilbertToGray(out, std::integral_constant()); + } + + template + void + ApplyMaskToArray( + std::array &, + T, + std::integral_constant) + { + } + + template + void + ApplyMaskToArray( + std::array &a, + T mask, std::integral_constant) + { + a[I-1]^= mask; + + ApplyMaskToArray( + a, + mask, + std::integral_constant()); + } + } // namespace tmp + + + // Pack bits into transposed form. + // + // e.g. + // + // a b c d a d g j + // e f g h -> b e h k + // i j k l c f i l + // + template + std::array + TransposeBits(std::array const &in) + { + std::array out; + + std::fill(out.begin(), out.end(), 0); + + tmp::TransposeBits( + in, + out, + std::integral_constant()); + + return out; + } + + // Extract bits from transposed form. + // e.g. + // + // a d g j a b c d + // b e h k -> e f g h + // c f i l i j k l + // + template + std::array + UntransposeBits(std::array const &in) + { + std::array out; + + std::fill(out.begin(), out.end(), 0); + + tmp::UntransposeBits( + in, + out, + std::integral_constant()); + + return out; + } + + + // Apply a gray code to a transformed vector. + template + std::array + ApplyGrayCode(std::array const &in) + { + std::array out(in); + + tmp::ApplyGrayCode1( + in, + out, + std::integral_constant()); + + return out; + } + + template + std::array + RemoveGrayCode(std::array const &in) + { + const size_t bits = std::numeric_limits::digits; + std::array out(in); + + // Remove gray code from transposed vector. + { + // xor values with prev values. + tmp::RemoveGrayCode1( + out, + std::integral_constant()); + + // create a mask. + T t = tmp::RemoveGrayCode2( + out[N-1], + std::integral_constant()); + + // Apply mask to output. + tmp::ApplyMaskToArray( + out, + t, + std::integral_constant()); + } + + return out; + } + + // Generate code to convert from a transposed gray code to a hilbert + // code. + template + std::array + GrayToHilbert(std::array const &in) + { + std::array out(in); + + tmp::GrayToHilbert( + out, + std::integral_constant< + size_t, + std::numeric_limits::digits - 1>()); + + return out; + } + + // Generate code to convert from a hilbert code to a transposed gray + // code. + template + std::array + HilbertToGray(std::array const &in) + { + std::array out(in); + + tmp::HilbertToGray( + out, + std::integral_constant< + size_t, + std::numeric_limits::digits-1>()); + + return out; + } + } + + // + // Public interfaces. + // + + // Find the position of a point on an N dimensional Hilbert Curve. + // + // Based on the paper "Programming the Hilbert Curve" by John Skilling. + // + // Index is encoded with most significant objects first. Lexographic + // sort order. + template + std::array + IndexToPosition(std::array const &in) + { + // First convert index to transpose. + return internal::GrayToHilbert( + internal::ApplyGrayCode( + internal::TransposeBits(in))); + } + + // Find the index of a point on an N dimensional Hilbert Curve. + // + // Based on the paper "Programming the Hilbert Curve" by John Skilling. + // + // Index is encoded with most significant objects first. Lexographic + // sort order. + template + std::array + PositionToIndex(std::array const &in) + { + return internal::UntransposeBits( + internal::RemoveGrayCode( + internal::HilbertToGray(in))); + } + } // namespace v2 +} // namespace hilbert + +#endif diff --git a/src/rm_nav/rm_localization/point_lio/include/ivox/ivox3d.h b/src/rm_nav/rm_localization/point_lio/include/ivox/ivox3d.h new file mode 100755 index 0000000..6f37014 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/ivox/ivox3d.h @@ -0,0 +1,315 @@ +// +// Created by xiang on 2021/9/16. +// + +#ifndef FASTER_LIO_IVOX3D_H +#define FASTER_LIO_IVOX3D_H + +#include +// #include +#include +#include +#include + +#include "eigen_types.h" +#include "ivox3d_node.hpp" + +namespace faster_lio { + +enum class IVoxNodeType { + DEFAULT, // linear ivox + PHC, // phc ivox +}; + +/// traits for NodeType +template +struct IVoxNodeTypeTraits {}; + +template +struct IVoxNodeTypeTraits { + using NodeType = IVoxNode; +}; + +template +struct IVoxNodeTypeTraits { + using NodeType = IVoxNodePhc; +}; + +template +class IVox { + public: + using KeyType = Eigen::Matrix; + using PtType = Eigen::Matrix; + using NodeType = typename IVoxNodeTypeTraits::NodeType; + using PointVector = std::vector>; + using DistPoint = typename NodeType::DistPoint; + + enum class NearbyType { + CENTER, // center only + NEARBY6, + NEARBY18, + NEARBY26, + }; + + struct Options { + float resolution_ = 0.2; // ivox resolution + float inv_resolution_ = 10.0; // inverse resolution + NearbyType nearby_type_ = NearbyType::NEARBY6; // nearby range + std::size_t capacity_ = 1000000; // capacity + }; + + /** + * constructor + * @param options ivox options + */ + explicit IVox(Options options) : options_(options) { + options_.inv_resolution_ = 1.0 / options_.resolution_; + GenerateNearbyGrids(); + } + + /** + * add points + * @param points_to_add + */ + void AddPoints(const PointVector& points_to_add); + + /// get nn + bool GetClosestPoint(const PointType& pt, PointType& closest_pt); + + /// get nn with condition + bool GetClosestPoint(const PointType& pt, PointVector& closest_pt, int max_num = 5, double max_range = 5.0); + + /// get nn in cloud + bool GetClosestPoint(const PointVector& cloud, PointVector& closest_cloud); + + /// get number of points + size_t NumPoints() const; + + /// get number of valid grids + size_t NumValidGrids() const; + + /// get statistics of the points + std::vector StatGridPoints() const; + + std::unordered_map>::iterator, hash_vec> + grids_map_; + KeyType Pos2Grid(const PtType& pt) const; + KeyType Pos2Grid_(const PtType& pt, const double &defined_res) const; + + private: + /// generate the nearby grids according to the given options + void GenerateNearbyGrids(); + + /// position to grid + // KeyType Pos2Grid(const PtType& pt) const; + + Options options_; + // std::unordered_map>::iterator, hash_vec> + // grids_map_; // voxel hash map + std::list> grids_cache_; // voxel cache + std::vector nearby_grids_; // nearbys +}; + +template +bool IVox::GetClosestPoint(const PointType& pt, PointType& closest_pt) { + std::vector candidates; + auto key = Pos2Grid(ToEigen(pt)); + std::for_each(nearby_grids_.begin(), nearby_grids_.end(), [&key, &candidates, &pt, this](const KeyType& delta) { + auto dkey = key + delta; + auto iter = grids_map_.find(dkey); + if (iter != grids_map_.end()) { + DistPoint dist_point; + bool found = iter->second->second.NNPoint(pt, dist_point); + if (found) { + candidates.emplace_back(dist_point); + } + } + }); + + if (candidates.empty()) { + return false; + } + + auto iter = std::min_element(candidates.begin(), candidates.end()); + closest_pt = iter->Get(); + return true; +} + +template +bool IVox::GetClosestPoint(const PointType& pt, PointVector& closest_pt, int max_num, + double max_range) { + std::vector candidates; + candidates.reserve(max_num * nearby_grids_.size()); + + auto key = Pos2Grid(ToEigen(pt)); + +// #define INNER_TIMER +#ifdef INNER_TIMER + static std::unordered_map> stats; + if (stats.empty()) { + stats["knn"] = std::vector(); + stats["nth"] = std::vector(); + } +#endif + + for (const KeyType& delta : nearby_grids_) { + auto dkey = key + delta; + auto iter = grids_map_.find(dkey); + if (iter != grids_map_.end()) { +#ifdef INNER_TIMER + auto t1 = std::chrono::high_resolution_clock::now(); +#endif + auto tmp = iter->second->second.KNNPointByCondition(candidates, pt, max_num, max_range); +#ifdef INNER_TIMER + auto t2 = std::chrono::high_resolution_clock::now(); + auto knn = std::chrono::duration_cast(t2 - t1).count(); + stats["knn"].emplace_back(knn); +#endif + } + } + + if (candidates.empty()) { + return false; + } + +#ifdef INNER_TIMER + auto t1 = std::chrono::high_resolution_clock::now(); +#endif + + if (candidates.size() <= max_num) { + } else { + std::nth_element(candidates.begin(), candidates.begin() + max_num - 1, candidates.end()); + candidates.resize(max_num); + } + std::nth_element(candidates.begin(), candidates.begin(), candidates.end()); + +#ifdef INNER_TIMER + auto t2 = std::chrono::high_resolution_clock::now(); + auto nth = std::chrono::duration_cast(t2 - t1).count(); + stats["nth"].emplace_back(nth); + + constexpr int STAT_PERIOD = 100000; + if (!stats["nth"].empty() && stats["nth"].size() % STAT_PERIOD == 0) { + for (auto& it : stats) { + const std::string& key = it.first; + std::vector& stat = it.second; + int64_t sum_ = std::accumulate(stat.begin(), stat.end(), 0); + int64_t num_ = stat.size(); + stat.clear(); + std::cout << "inner_" << key << "(ns): sum=" << sum_ << " num=" << num_ << " ave=" << 1.0 * sum_ / num_ + << " ave*n=" << 1.0 * sum_ / STAT_PERIOD << std::endl; + } + } +#endif + + closest_pt.clear(); + for (auto& it : candidates) { + closest_pt.emplace_back(it.Get()); + } + return closest_pt.empty() == false; +} + +template +size_t IVox::NumValidGrids() const { + return grids_map_.size(); +} + +template +void IVox::GenerateNearbyGrids() { + if (options_.nearby_type_ == NearbyType::CENTER) { + nearby_grids_.emplace_back(KeyType::Zero()); + } else if (options_.nearby_type_ == NearbyType::NEARBY6) { + nearby_grids_ = {KeyType(0, 0, 0), KeyType(-1, 0, 0), KeyType(1, 0, 0), KeyType(0, 1, 0), + KeyType(0, -1, 0), KeyType(0, 0, -1), KeyType(0, 0, 1)}; + } else if (options_.nearby_type_ == NearbyType::NEARBY18) { + nearby_grids_ = {KeyType(0, 0, 0), KeyType(-1, 0, 0), KeyType(1, 0, 0), KeyType(0, 1, 0), + KeyType(0, -1, 0), KeyType(0, 0, -1), KeyType(0, 0, 1), KeyType(1, 1, 0), + KeyType(-1, 1, 0), KeyType(1, -1, 0), KeyType(-1, -1, 0), KeyType(1, 0, 1), + KeyType(-1, 0, 1), KeyType(1, 0, -1), KeyType(-1, 0, -1), KeyType(0, 1, 1), + KeyType(0, -1, 1), KeyType(0, 1, -1), KeyType(0, -1, -1)}; + } else if (options_.nearby_type_ == NearbyType::NEARBY26) { + nearby_grids_ = {KeyType(0, 0, 0), KeyType(-1, 0, 0), KeyType(1, 0, 0), KeyType(0, 1, 0), + KeyType(0, -1, 0), KeyType(0, 0, -1), KeyType(0, 0, 1), KeyType(1, 1, 0), + KeyType(-1, 1, 0), KeyType(1, -1, 0), KeyType(-1, -1, 0), KeyType(1, 0, 1), + KeyType(-1, 0, 1), KeyType(1, 0, -1), KeyType(-1, 0, -1), KeyType(0, 1, 1), + KeyType(0, -1, 1), KeyType(0, 1, -1), KeyType(0, -1, -1), KeyType(1, 1, 1), + KeyType(-1, 1, 1), KeyType(1, -1, 1), KeyType(1, 1, -1), KeyType(-1, -1, 1), + KeyType(-1, 1, -1), KeyType(1, -1, -1), KeyType(-1, -1, -1)}; + } else { + // LOG(ERROR) << "Unknown nearby_type!"; + } +} + +template +bool IVox::GetClosestPoint(const PointVector& cloud, PointVector& closest_cloud) { + std::vector index(cloud.size()); + + closest_cloud.resize(cloud.size()); + + for (int i = 0; i < cloud.size(); ++i) { + PointType pt; + if (GetClosestPoint(cloud[i], pt)) { + closest_cloud[i] = pt; + } else { + closest_cloud[i] = PointType(); + } + }; + return true; +} + +template +void IVox::AddPoints(const PointVector& points_to_add) { + for(size_t i = 0; i(points_to_add[i].x, points_to_add[i].y, points_to_add[i].z)); + auto iter = grids_map_.find(key); + if (iter == grids_map_.end()) { + PointType center; + center.getVector3fMap() = key.template cast() * options_.resolution_; + + grids_cache_.push_front({key, NodeType(center, options_.resolution_)}); + grids_map_.insert({key, grids_cache_.begin()}); + + grids_cache_.front().second.InsertPoint(points_to_add[i]); + + if (grids_map_.size() >= options_.capacity_) { + grids_map_.erase(grids_cache_.back().first); + grids_cache_.pop_back(); + } + } else { + iter->second->second.InsertPoint(points_to_add[i]); + grids_cache_.splice(grids_cache_.begin(), grids_cache_, iter->second); + grids_map_[key] = grids_cache_.begin(); + } + } +} + +template +Eigen::Matrix IVox::Pos2Grid(const IVox::PtType& pt) const { + return (pt * options_.inv_resolution_).array().floor().template cast(); +} + +template +Eigen::Matrix IVox::Pos2Grid_(const IVox::PtType& pt, const double &defined_res) const { + return (pt / defined_res).array().floor().template cast(); +} + +template +std::vector IVox::StatGridPoints() const { + int num = grids_cache_.size(), valid_num = 0, max = 0, min = 100000000; + int sum = 0, sum_square = 0; + for (auto& it : grids_cache_) { + int s = it.second.Size(); + valid_num += s > 0; + max = s > max ? s : max; + min = s < min ? s : min; + sum += s; + sum_square += s * s; + } + float ave = float(sum) / num; + float stddev = num > 1 ? sqrt((float(sum_square) - num * ave * ave) / (num - 1)) : 0; + return std::vector{valid_num, ave, max, min, stddev}; +} + +} // namespace faster_lio + +#endif diff --git a/src/rm_nav/rm_localization/point_lio/include/ivox/ivox3d_node.hpp b/src/rm_nav/rm_localization/point_lio/include/ivox/ivox3d_node.hpp new file mode 100755 index 0000000..d2a9e0b --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/ivox/ivox3d_node.hpp @@ -0,0 +1,413 @@ +#include +#include +#include +#include +#include + +#include "hilbert.hpp" + +namespace faster_lio { + +// squared distance of two pcl points +template +inline double distance2(const PointT& pt1, const PointT& pt2) { + Eigen::Vector3f d = pt1.getVector3fMap() - pt2.getVector3fMap(); + return d.squaredNorm(); +} + +// convert from pcl point to eigen +template +inline Eigen::Matrix ToEigen(const PointType& pt) { + cout << "line 21" << endl; + return Eigen::Matrix(pt.x, pt.y, pt.z); + cout << "line 23" << endl; +} + +template <> +inline Eigen::Matrix ToEigen(const pcl::PointXYZ& pt) { + return pt.getVector3fMap(); +} + +template <> +inline Eigen::Matrix ToEigen(const pcl::PointXYZI& pt) { + return pt.getVector3fMap(); +} + +template <> +inline Eigen::Matrix ToEigen(const pcl::PointXYZINormal& pt) { + return pt.getVector3fMap(); +} + +template +class IVoxNode { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW; + + struct DistPoint; + + IVoxNode() = default; + IVoxNode(const PointT& center, const float& side_length) {} /// same with phc + + void InsertPoint(const PointT& pt); + + inline bool Empty() const; + + inline std::size_t Size() const; + + inline PointT GetPoint(const std::size_t idx) const; + + int KNNPointByCondition(std::vector& dis_points, const PointT& point, const int& K, + const double& max_range); + + private: + std::vector points_; +}; + +template +class IVoxNodePhc { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW; + + struct DistPoint; + struct PhcCube; + + IVoxNodePhc() = default; + IVoxNodePhc(const PointT& center, const float& side_length, const int& phc_order = 6); + + void InsertPoint(const PointT& pt); + + void ErasePoint(const PointT& pt, const double erase_distance_th_); + + inline bool Empty() const; + + inline std::size_t Size() const; + + PointT GetPoint(const std::size_t idx) const; + + bool NNPoint(const PointT& cur_pt, DistPoint& dist_point) const; + + int KNNPointByCondition(std::vector& dis_points, const PointT& cur_pt, const int& K = 5, + const double& max_range = 5.0); + + private: + uint32_t CalculatePhcIndex(const PointT& pt) const; + + private: + std::vector phc_cubes_; + + PointT center_; + float side_length_ = 0; + int phc_order_ = 6; + float phc_side_length_ = 0; + float phc_side_length_inv_ = 0; + Eigen::Matrix min_cube_; +}; + +template +struct IVoxNode::DistPoint { + double dist = 0; + IVoxNode* node = nullptr; + int idx = 0; + + DistPoint() = default; + DistPoint(const double d, IVoxNode* n, const int i) : dist(d), node(n), idx(i) {} + + PointT Get() { return node->GetPoint(idx); } + + inline bool operator()(const DistPoint& p1, const DistPoint& p2) { return p1.dist < p2.dist; } + + inline bool operator<(const DistPoint& rhs) { return dist < rhs.dist; } +}; + +template +void IVoxNode::InsertPoint(const PointT& pt) { + points_.template emplace_back(pt); +} + +template +bool IVoxNode::Empty() const { + return points_.empty(); +} + +template +std::size_t IVoxNode::Size() const { + return points_.size(); +} + +template +PointT IVoxNode::GetPoint(const std::size_t idx) const { + return points_[idx]; +} + +template +int IVoxNode::KNNPointByCondition(std::vector& dis_points, const PointT& point, const int& K, + const double& max_range) { + std::size_t old_size = dis_points.size(); +// #define INNER_TIMER +#ifdef INNER_TIMER + static std::unordered_map> stats; + if (stats.empty()) { + stats["dis"] = std::vector(); + stats["put"] = std::vector(); + stats["nth"] = std::vector(); + } +#endif + + for (const auto& pt : points_) { +#ifdef INNER_TIMER + auto t0 = std::chrono::high_resolution_clock::now(); +#endif + double d = distance2(pt, point); +#ifdef INNER_TIMER + auto t1 = std::chrono::high_resolution_clock::now(); +#endif + if (d < max_range * max_range) { + dis_points.template emplace_back(DistPoint(d, this, &pt - points_.data())); + } +#ifdef INNER_TIMER + auto t2 = std::chrono::high_resolution_clock::now(); + + auto dis = std::chrono::duration_cast(t1 - t0).count(); + stats["dis"].emplace_back(dis); + auto put = std::chrono::duration_cast(t2 - t1).count(); + stats["put"].emplace_back(put); +#endif + } + +#ifdef INNER_TIMER + auto t1 = std::chrono::high_resolution_clock::now(); +#endif + // sort by distance + if (old_size + K >= dis_points.size()) { + } else { + std::nth_element(dis_points.begin() + old_size, dis_points.begin() + old_size + K - 1, dis_points.end()); + dis_points.resize(old_size + K); + } + +#ifdef INNER_TIMER + auto t2 = std::chrono::high_resolution_clock::now(); + auto nth = std::chrono::duration_cast(t2 - t1).count(); + stats["nth"].emplace_back(nth); + + constexpr int STAT_PERIOD = 100000; + if (!stats["nth"].empty() && stats["nth"].size() % STAT_PERIOD == 0) { + for (auto& it : stats) { + const std::string& key = it.first; + std::vector& stat = it.second; + int64_t sum_ = std::accumulate(stat.begin(), stat.end(), 0); + int64_t num_ = stat.size(); + stat.clear(); + std::cout << "inner_" << key << "(ns): sum=" << sum_ << " num=" << num_ << " ave=" << 1.0 * sum_ / num_ + << " ave*n=" << 1.0 * sum_ / STAT_PERIOD << std::endl; + } + } +#endif + + return dis_points.size(); +} + +template +struct IVoxNodePhc::DistPoint { + double dist = 0; + IVoxNodePhc* node = nullptr; + int idx = 0; + + DistPoint() {} + DistPoint(const double d, IVoxNodePhc* n, const int i) : dist(d), node(n), idx(i) {} + + PointT Get() { return node->GetPoint(idx); } + + inline bool operator()(const DistPoint& p1, const DistPoint& p2) { return p1.dist < p2.dist; } + + inline bool operator<(const DistPoint& rhs) { return dist < rhs.dist; } +}; + +template +struct IVoxNodePhc::PhcCube { + uint32_t idx = 0; + pcl::CentroidPoint mean; + + PhcCube(uint32_t index, const PointT& pt) { mean.add(pt); } + + void AddPoint(PointT& pt) { mean.add(pt); } + + PointT GetPoint() const { + PointT pt; + mean.get(pt); + return std::move(pt); + } +}; + +template +IVoxNodePhc::IVoxNodePhc(const PointT& center, const float& side_length, const int& phc_order) + : center_(center), side_length_(side_length), phc_order_(phc_order) { + assert(phc_order <= 8); + phc_side_length_ = side_length_ / (std::pow(2, phc_order_)); + phc_side_length_inv_ = (std::pow(2, phc_order_)) / side_length_; + min_cube_ = center_.getArray3fMap() - side_length / 2.0; + phc_cubes_.reserve(64); +} + +template +void IVoxNodePhc::InsertPoint(const PointT& pt) { + uint32_t idx = CalculatePhcIndex(pt); + + PhcCube cube{idx, pt}; + auto it = std::lower_bound(phc_cubes_.begin(), phc_cubes_.end(), cube, + [](const PhcCube& a, const PhcCube& b) { return a.idx < b.idx; }); + + if (it == phc_cubes_.end()) { + phc_cubes_.emplace_back(cube); + } else { + if (it->idx == idx) { + it->AddPoint(pt); + } else { + phc_cubes_.insert(it, cube); + } + } +} + +template +void IVoxNodePhc::ErasePoint(const PointT& pt, const double erase_distance_th_) { + uint32_t idx = CalculatePhcIndex(pt); + + PhcCube cube{idx, pt}; + auto it = std::lower_bound(phc_cubes_.begin(), phc_cubes_.end(), cube, + [](const PhcCube& a, const PhcCube& b) { return a.idx < b.idx; }); + + if (erase_distance_th_ > 0) { + } + if (it != phc_cubes_.end() && it->idx == idx) { + phc_cubes_.erase(it); + } +} + +template +bool IVoxNodePhc::Empty() const { + return phc_cubes_.empty(); +} + +template +std::size_t IVoxNodePhc::Size() const { + return phc_cubes_.size(); +} + +template +PointT IVoxNodePhc::GetPoint(const std::size_t idx) const { + return phc_cubes_[idx].GetPoint(); +} + +template +bool IVoxNodePhc::NNPoint(const PointT& cur_pt, DistPoint& dist_point) const { + if (phc_cubes_.empty()) { + return false; + } + uint32_t cur_idx = CalculatePhcIndex(cur_pt); + PhcCube cube{cur_idx, cur_pt}; + auto it = std::lower_bound(phc_cubes_.begin(), phc_cubes_.end(), cube, + [](const PhcCube& a, const PhcCube& b) { return a.idx < b.idx; }); + + if (it == phc_cubes_.end()) { + it--; + dist_point = DistPoint(distance2(cur_pt, it->GetPoint()), this, it - phc_cubes_.begin()); + } else if (it == phc_cubes_.begin()) { + dist_point = DistPoint(distance2(cur_pt, it->GetPoint()), this, it - phc_cubes_.begin()); + } else { + auto last_it = it; + last_it--; + double d1 = distance2(cur_pt, it->GetPoint()); + double d2 = distance2(cur_pt, last_it->GetPoint()); + if (d1 > d2) { + dist_point = DistPoint(d2, this, it - phc_cubes_.begin()); + } else { + dist_point = DistPoint(d1, this, it - phc_cubes_.begin()); + } + } + + return true; +} + +template +int IVoxNodePhc::KNNPointByCondition(std::vector& dis_points, const PointT& cur_pt, + const int& K, const double& max_range) { + uint32_t cur_idx = CalculatePhcIndex(cur_pt); + PhcCube cube{cur_idx, cur_pt}; + auto it = std::lower_bound(phc_cubes_.begin(), phc_cubes_.end(), cube, + [](const PhcCube& a, const PhcCube& b) { return a.idx < b.idx; }); + + const int max_search_cube_side_length = std::pow(2, std::ceil(std::log2(max_range * phc_side_length_inv_))); + const int max_search_idx_th = + 8 * max_search_cube_side_length * max_search_cube_side_length * max_search_cube_side_length; + + auto create_dist_point = [&cur_pt, this](typename std::vector::const_iterator forward_it) { + double d = distance2(forward_it->GetPoint(), cur_pt); + return DistPoint(d, this, forward_it - phc_cubes_.begin()); + }; + + typename std::vector::const_iterator forward_it(it); + typename std::vector::const_reverse_iterator backward_it(it); + if (it != phc_cubes_.end()) { + dis_points.emplace_back(create_dist_point(it)); + forward_it++; + } + if (backward_it != phc_cubes_.rend()) { + backward_it++; + } + + auto forward_reach_boundary = [&]() { + return forward_it == phc_cubes_.end() || forward_it->idx - cur_idx > max_search_idx_th; + }; + auto backward_reach_boundary = [&]() { + return backward_it == phc_cubes_.rend() || cur_idx - backward_it->idx > max_search_idx_th; + }; + + while (!forward_reach_boundary() && !backward_reach_boundary()) { + if (forward_it->idx - cur_idx > cur_idx - backward_it->idx) { + dis_points.emplace_back(create_dist_point(forward_it)); + forward_it++; + } else { + dis_points.emplace_back(create_dist_point(backward_it.base())); + backward_it++; + } + if (dis_points.size() > K) { + break; + } + } + + if (forward_reach_boundary()) { + while (!backward_reach_boundary() && dis_points.size() < K) { + dis_points.emplace_back(create_dist_point(backward_it.base())); + backward_it++; + } + } + + if (backward_reach_boundary()) { + while (!forward_reach_boundary() && dis_points.size() < K) { + dis_points.emplace_back(create_dist_point(forward_it)); + forward_it++; + } + } + + return dis_points.size(); +} + +template +uint32_t IVoxNodePhc::CalculatePhcIndex(const PointT& pt) const { + Eigen::Matrix eposf = (pt.getVector3fMap() - min_cube_) * phc_side_length_inv_; + Eigen::Matrix eposi = eposf.template cast(); + for (int i = 0; i < dim; ++i) { + if (eposi(i, 0) < 0) { + eposi(i, 0) = 0; + } + if (eposi(i, 0) > std::pow(2, phc_order_)) { + eposi(i, 0) = std::pow(2, phc_order_) - 1; + } + } + std::array apos{eposi(0), eposi(1), eposi(2)}; + std::array tmp = hilbert::v2::PositionToIndex(apos); + + uint32_t idx = (uint32_t(tmp[0]) << 16) + (uint32_t(tmp[1]) << 8) + (uint32_t(tmp[2])); + return idx; +} + +} // namespace faster_lio diff --git a/src/rm_nav/rm_localization/point_lio/include/matplotlibcpp.h b/src/rm_nav/rm_localization/point_lio/include/matplotlibcpp.h new file mode 100755 index 0000000..a6afa34 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/matplotlibcpp.h @@ -0,0 +1,2500 @@ +#pragma once + +// Python headers must be included before any system headers, since +// they define _POSIX_C_SOURCE +#include + +#include +#include +#include +#include +#include +#include +#include +#include // requires c++11 support +#include + +#ifndef WITHOUT_NUMPY +# define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION +# include + +# ifdef WITH_OPENCV +# include +# include +# endif // WITH_OPENCV + +/* + * A bunch of constants were removed in OpenCV 4 in favour of enum classes, so + * define the ones we need here. + */ +# if CV_MAJOR_VERSION > 3 +# define CV_BGR2RGB cv::COLOR_BGR2RGB +# define CV_BGRA2RGBA cv::COLOR_BGRA2RGBA +# endif +#endif // WITHOUT_NUMPY + +#if PY_MAJOR_VERSION >= 3 +# define PyString_FromString PyUnicode_FromString +# define PyInt_FromLong PyLong_FromLong +# define PyString_FromString PyUnicode_FromString +#endif + + +namespace matplotlibcpp { +namespace detail { + +static std::string s_backend; + +struct _interpreter { + PyObject* s_python_function_arrow; + PyObject *s_python_function_show; + PyObject *s_python_function_close; + PyObject *s_python_function_draw; + PyObject *s_python_function_pause; + PyObject *s_python_function_save; + PyObject *s_python_function_figure; + PyObject *s_python_function_fignum_exists; + PyObject *s_python_function_plot; + PyObject *s_python_function_quiver; + PyObject* s_python_function_contour; + PyObject *s_python_function_semilogx; + PyObject *s_python_function_semilogy; + PyObject *s_python_function_loglog; + PyObject *s_python_function_fill; + PyObject *s_python_function_fill_between; + PyObject *s_python_function_hist; + PyObject *s_python_function_imshow; + PyObject *s_python_function_scatter; + PyObject *s_python_function_boxplot; + PyObject *s_python_function_subplot; + PyObject *s_python_function_subplot2grid; + PyObject *s_python_function_legend; + PyObject *s_python_function_xlim; + PyObject *s_python_function_ion; + PyObject *s_python_function_ginput; + PyObject *s_python_function_ylim; + PyObject *s_python_function_title; + PyObject *s_python_function_axis; + PyObject *s_python_function_axvline; + PyObject *s_python_function_axvspan; + PyObject *s_python_function_xlabel; + PyObject *s_python_function_ylabel; + PyObject *s_python_function_gca; + PyObject *s_python_function_xticks; + PyObject *s_python_function_yticks; + PyObject* s_python_function_margins; + PyObject *s_python_function_tick_params; + PyObject *s_python_function_grid; + PyObject* s_python_function_cla; + PyObject *s_python_function_clf; + PyObject *s_python_function_errorbar; + PyObject *s_python_function_annotate; + PyObject *s_python_function_tight_layout; + PyObject *s_python_colormap; + PyObject *s_python_empty_tuple; + PyObject *s_python_function_stem; + PyObject *s_python_function_xkcd; + PyObject *s_python_function_text; + PyObject *s_python_function_suptitle; + PyObject *s_python_function_bar; + PyObject *s_python_function_colorbar; + PyObject *s_python_function_subplots_adjust; + + + /* For now, _interpreter is implemented as a singleton since its currently not possible to have + multiple independent embedded python interpreters without patching the python source code + or starting a separate process for each. + http://bytes.com/topic/python/answers/793370-multiple-independent-python-interpreters-c-c-program + */ + + static _interpreter& get() { + static _interpreter ctx; + return ctx; + } + + PyObject* safe_import(PyObject* module, std::string fname) { + PyObject* fn = PyObject_GetAttrString(module, fname.c_str()); + + if (!fn) + throw std::runtime_error(std::string("Couldn't find required function: ") + fname); + + if (!PyFunction_Check(fn)) + throw std::runtime_error(fname + std::string(" is unexpectedly not a PyFunction.")); + + return fn; + } + +private: + +#ifndef WITHOUT_NUMPY +# if PY_MAJOR_VERSION >= 3 + + void *import_numpy() { + import_array(); // initialize C-API + return NULL; + } + +# else + + void import_numpy() { + import_array(); // initialize C-API + } + +# endif +#endif + + _interpreter() { + + // optional but recommended +#if PY_MAJOR_VERSION >= 3 + wchar_t name[] = L"plotting"; +#else + char name[] = "plotting"; +#endif + Py_SetProgramName(name); + Py_Initialize(); + +#ifndef WITHOUT_NUMPY + import_numpy(); // initialize numpy C-API +#endif + + PyObject* matplotlibname = PyString_FromString("matplotlib"); + PyObject* pyplotname = PyString_FromString("matplotlib.pyplot"); + PyObject* cmname = PyString_FromString("matplotlib.cm"); + PyObject* pylabname = PyString_FromString("pylab"); + if (!pyplotname || !pylabname || !matplotlibname || !cmname) { + throw std::runtime_error("couldnt create string"); + } + + PyObject* matplotlib = PyImport_Import(matplotlibname); + Py_DECREF(matplotlibname); + if (!matplotlib) { + PyErr_Print(); + throw std::runtime_error("Error loading module matplotlib!"); + } + + // matplotlib.use() must be called *before* pylab, matplotlib.pyplot, + // or matplotlib.backends is imported for the first time + if (!s_backend.empty()) { + PyObject_CallMethod(matplotlib, const_cast("use"), const_cast("s"), s_backend.c_str()); + } + + PyObject* pymod = PyImport_Import(pyplotname); + Py_DECREF(pyplotname); + if (!pymod) { throw std::runtime_error("Error loading module matplotlib.pyplot!"); } + + s_python_colormap = PyImport_Import(cmname); + Py_DECREF(cmname); + if (!s_python_colormap) { throw std::runtime_error("Error loading module matplotlib.cm!"); } + + PyObject* pylabmod = PyImport_Import(pylabname); + Py_DECREF(pylabname); + if (!pylabmod) { throw std::runtime_error("Error loading module pylab!"); } + + s_python_function_arrow = safe_import(pymod, "arrow"); + s_python_function_show = safe_import(pymod, "show"); + s_python_function_close = safe_import(pymod, "close"); + s_python_function_draw = safe_import(pymod, "draw"); + s_python_function_pause = safe_import(pymod, "pause"); + s_python_function_figure = safe_import(pymod, "figure"); + s_python_function_fignum_exists = safe_import(pymod, "fignum_exists"); + s_python_function_plot = safe_import(pymod, "plot"); + s_python_function_quiver = safe_import(pymod, "quiver"); + s_python_function_contour = safe_import(pymod, "contour"); + s_python_function_semilogx = safe_import(pymod, "semilogx"); + s_python_function_semilogy = safe_import(pymod, "semilogy"); + s_python_function_loglog = safe_import(pymod, "loglog"); + s_python_function_fill = safe_import(pymod, "fill"); + s_python_function_fill_between = safe_import(pymod, "fill_between"); + s_python_function_hist = safe_import(pymod,"hist"); + s_python_function_scatter = safe_import(pymod,"scatter"); + s_python_function_boxplot = safe_import(pymod,"boxplot"); + s_python_function_subplot = safe_import(pymod, "subplot"); + s_python_function_subplot2grid = safe_import(pymod, "subplot2grid"); + s_python_function_legend = safe_import(pymod, "legend"); + s_python_function_ylim = safe_import(pymod, "ylim"); + s_python_function_title = safe_import(pymod, "title"); + s_python_function_axis = safe_import(pymod, "axis"); + s_python_function_axvline = safe_import(pymod, "axvline"); + s_python_function_axvspan = safe_import(pymod, "axvspan"); + s_python_function_xlabel = safe_import(pymod, "xlabel"); + s_python_function_ylabel = safe_import(pymod, "ylabel"); + s_python_function_gca = safe_import(pymod, "gca"); + s_python_function_xticks = safe_import(pymod, "xticks"); + s_python_function_yticks = safe_import(pymod, "yticks"); + s_python_function_margins = safe_import(pymod, "margins"); + s_python_function_tick_params = safe_import(pymod, "tick_params"); + s_python_function_grid = safe_import(pymod, "grid"); + s_python_function_xlim = safe_import(pymod, "xlim"); + s_python_function_ion = safe_import(pymod, "ion"); + s_python_function_ginput = safe_import(pymod, "ginput"); + s_python_function_save = safe_import(pylabmod, "savefig"); + s_python_function_annotate = safe_import(pymod,"annotate"); + s_python_function_cla = safe_import(pymod, "cla"); + s_python_function_clf = safe_import(pymod, "clf"); + s_python_function_errorbar = safe_import(pymod, "errorbar"); + s_python_function_tight_layout = safe_import(pymod, "tight_layout"); + s_python_function_stem = safe_import(pymod, "stem"); + s_python_function_xkcd = safe_import(pymod, "xkcd"); + s_python_function_text = safe_import(pymod, "text"); + s_python_function_suptitle = safe_import(pymod, "suptitle"); + s_python_function_bar = safe_import(pymod,"bar"); + s_python_function_colorbar = PyObject_GetAttrString(pymod, "colorbar"); + s_python_function_subplots_adjust = safe_import(pymod,"subplots_adjust"); +#ifndef WITHOUT_NUMPY + s_python_function_imshow = safe_import(pymod, "imshow"); +#endif + s_python_empty_tuple = PyTuple_New(0); + } + + ~_interpreter() { + Py_Finalize(); + } +}; + +} // end namespace detail + +/// Select the backend +/// +/// **NOTE:** This must be called before the first plot command to have +/// any effect. +/// +/// Mainly useful to select the non-interactive 'Agg' backend when running +/// matplotlibcpp in headless mode, for example on a machine with no display. +/// +/// See also: https://matplotlib.org/2.0.2/api/matplotlib_configuration_api.html#matplotlib.use +inline void backend(const std::string& name) +{ + detail::s_backend = name; +} + +inline bool annotate(std::string annotation, double x, double y) +{ + detail::_interpreter::get(); + + PyObject * xy = PyTuple_New(2); + PyObject * str = PyString_FromString(annotation.c_str()); + + PyTuple_SetItem(xy,0,PyFloat_FromDouble(x)); + PyTuple_SetItem(xy,1,PyFloat_FromDouble(y)); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "xy", xy); + + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, str); + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_annotate, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + + if(res) Py_DECREF(res); + + return res; +} + +namespace detail { + +#ifndef WITHOUT_NUMPY +// Type selector for numpy array conversion +template struct select_npy_type { const static NPY_TYPES type = NPY_NOTYPE; }; //Default +template <> struct select_npy_type { const static NPY_TYPES type = NPY_DOUBLE; }; +template <> struct select_npy_type { const static NPY_TYPES type = NPY_FLOAT; }; +template <> struct select_npy_type { const static NPY_TYPES type = NPY_BOOL; }; +template <> struct select_npy_type { const static NPY_TYPES type = NPY_INT8; }; +template <> struct select_npy_type { const static NPY_TYPES type = NPY_SHORT; }; +template <> struct select_npy_type { const static NPY_TYPES type = NPY_INT; }; +template <> struct select_npy_type { const static NPY_TYPES type = NPY_INT64; }; +template <> struct select_npy_type { const static NPY_TYPES type = NPY_UINT8; }; +template <> struct select_npy_type { const static NPY_TYPES type = NPY_USHORT; }; +template <> struct select_npy_type { const static NPY_TYPES type = NPY_ULONG; }; +template <> struct select_npy_type { const static NPY_TYPES type = NPY_UINT64; }; + +// Sanity checks; comment them out or change the numpy type below if you're compiling on +// a platform where they don't apply +static_assert(sizeof(long long) == 8); +template <> struct select_npy_type { const static NPY_TYPES type = NPY_INT64; }; +static_assert(sizeof(unsigned long long) == 8); +template <> struct select_npy_type { const static NPY_TYPES type = NPY_UINT64; }; +// TODO: add int, long, etc. + +template +PyObject* get_array(const std::vector& v) +{ + npy_intp vsize = v.size(); + NPY_TYPES type = select_npy_type::type; + if (type == NPY_NOTYPE) { + size_t memsize = v.size()*sizeof(double); + double* dp = static_cast(::malloc(memsize)); + for (size_t i=0; i(varray), NPY_ARRAY_OWNDATA); + return varray; + } + + PyObject* varray = PyArray_SimpleNewFromData(1, &vsize, type, (void*)(v.data())); + return varray; +} + + +template +PyObject* get_2darray(const std::vector<::std::vector>& v) +{ + if (v.size() < 1) throw std::runtime_error("get_2d_array v too small"); + + npy_intp vsize[2] = {static_cast(v.size()), + static_cast(v[0].size())}; + + PyArrayObject *varray = + (PyArrayObject *)PyArray_SimpleNew(2, vsize, NPY_DOUBLE); + + double *vd_begin = static_cast(PyArray_DATA(varray)); + + for (const ::std::vector &v_row : v) { + if (v_row.size() != static_cast(vsize[1])) + throw std::runtime_error("Missmatched array size"); + std::copy(v_row.begin(), v_row.end(), vd_begin); + vd_begin += vsize[1]; + } + + return reinterpret_cast(varray); +} + +#else // fallback if we don't have numpy: copy every element of the given vector + +template +PyObject* get_array(const std::vector& v) +{ + PyObject* list = PyList_New(v.size()); + for(size_t i = 0; i < v.size(); ++i) { + PyList_SetItem(list, i, PyFloat_FromDouble(v.at(i))); + } + return list; +} + +#endif // WITHOUT_NUMPY + +// sometimes, for labels and such, we need string arrays +inline PyObject * get_array(const std::vector& strings) +{ + PyObject* list = PyList_New(strings.size()); + for (std::size_t i = 0; i < strings.size(); ++i) { + PyList_SetItem(list, i, PyString_FromString(strings[i].c_str())); + } + return list; +} + +// not all matplotlib need 2d arrays, some prefer lists of lists +template +PyObject* get_listlist(const std::vector>& ll) +{ + PyObject* listlist = PyList_New(ll.size()); + for (std::size_t i = 0; i < ll.size(); ++i) { + PyList_SetItem(listlist, i, get_array(ll[i])); + } + return listlist; +} + +} // namespace detail + +/// Plot a line through the given x and y data points.. +/// +/// See: https://matplotlib.org/3.2.1/api/_as_gen/matplotlib.pyplot.plot.html +template +bool plot(const std::vector &x, const std::vector &y, const std::map& keywords) +{ + assert(x.size() == y.size()); + + detail::_interpreter::get(); + + // using numpy arrays + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + // construct positional args + PyObject* args = PyTuple_New(2); + PyTuple_SetItem(args, 0, xarray); + PyTuple_SetItem(args, 1, yarray); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyString_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_plot, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + if(res) Py_DECREF(res); + + return res; +} + +// TODO - it should be possible to make this work by implementing +// a non-numpy alternative for `detail::get_2darray()`. +#ifndef WITHOUT_NUMPY +template +void plot_surface(const std::vector<::std::vector> &x, + const std::vector<::std::vector> &y, + const std::vector<::std::vector> &z, + const std::map &keywords = + std::map()) +{ + detail::_interpreter::get(); + + // We lazily load the modules here the first time this function is called + // because I'm not sure that we can assume "matplotlib installed" implies + // "mpl_toolkits installed" on all platforms, and we don't want to require + // it for people who don't need 3d plots. + static PyObject *mpl_toolkitsmod = nullptr, *axis3dmod = nullptr; + if (!mpl_toolkitsmod) { + detail::_interpreter::get(); + + PyObject* mpl_toolkits = PyString_FromString("mpl_toolkits"); + PyObject* axis3d = PyString_FromString("mpl_toolkits.mplot3d"); + if (!mpl_toolkits || !axis3d) { throw std::runtime_error("couldnt create string"); } + + mpl_toolkitsmod = PyImport_Import(mpl_toolkits); + Py_DECREF(mpl_toolkits); + if (!mpl_toolkitsmod) { throw std::runtime_error("Error loading module mpl_toolkits!"); } + + axis3dmod = PyImport_Import(axis3d); + Py_DECREF(axis3d); + if (!axis3dmod) { throw std::runtime_error("Error loading module mpl_toolkits.mplot3d!"); } + } + + assert(x.size() == y.size()); + assert(y.size() == z.size()); + + // using numpy arrays + PyObject *xarray = detail::get_2darray(x); + PyObject *yarray = detail::get_2darray(y); + PyObject *zarray = detail::get_2darray(z); + + // construct positional args + PyObject *args = PyTuple_New(3); + PyTuple_SetItem(args, 0, xarray); + PyTuple_SetItem(args, 1, yarray); + PyTuple_SetItem(args, 2, zarray); + + // Build up the kw args. + PyObject *kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "rstride", PyInt_FromLong(1)); + PyDict_SetItemString(kwargs, "cstride", PyInt_FromLong(1)); + + PyObject *python_colormap_coolwarm = PyObject_GetAttrString( + detail::_interpreter::get().s_python_colormap, "coolwarm"); + + PyDict_SetItemString(kwargs, "cmap", python_colormap_coolwarm); + + for (std::map::const_iterator it = keywords.begin(); + it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), + PyString_FromString(it->second.c_str())); + } + + + PyObject *fig = + PyObject_CallObject(detail::_interpreter::get().s_python_function_figure, + detail::_interpreter::get().s_python_empty_tuple); + if (!fig) throw std::runtime_error("Call to figure() failed."); + + PyObject *gca_kwargs = PyDict_New(); + PyDict_SetItemString(gca_kwargs, "projection", PyString_FromString("3d")); + + PyObject *gca = PyObject_GetAttrString(fig, "gca"); + if (!gca) throw std::runtime_error("No gca"); + Py_INCREF(gca); + PyObject *axis = PyObject_Call( + gca, detail::_interpreter::get().s_python_empty_tuple, gca_kwargs); + + if (!axis) throw std::runtime_error("No axis"); + Py_INCREF(axis); + + Py_DECREF(gca); + Py_DECREF(gca_kwargs); + + PyObject *plot_surface = PyObject_GetAttrString(axis, "plot_surface"); + if (!plot_surface) throw std::runtime_error("No surface"); + Py_INCREF(plot_surface); + PyObject *res = PyObject_Call(plot_surface, args, kwargs); + if (!res) throw std::runtime_error("failed surface"); + Py_DECREF(plot_surface); + + Py_DECREF(axis); + Py_DECREF(args); + Py_DECREF(kwargs); + if (res) Py_DECREF(res); +} +#endif // WITHOUT_NUMPY + +template +void plot3(const std::vector &x, + const std::vector &y, + const std::vector &z, + const std::map &keywords = + std::map()) +{ + detail::_interpreter::get(); + + // Same as with plot_surface: We lazily load the modules here the first time + // this function is called because I'm not sure that we can assume "matplotlib + // installed" implies "mpl_toolkits installed" on all platforms, and we don't + // want to require it for people who don't need 3d plots. + static PyObject *mpl_toolkitsmod = nullptr, *axis3dmod = nullptr; + if (!mpl_toolkitsmod) { + detail::_interpreter::get(); + + PyObject* mpl_toolkits = PyString_FromString("mpl_toolkits"); + PyObject* axis3d = PyString_FromString("mpl_toolkits.mplot3d"); + if (!mpl_toolkits || !axis3d) { throw std::runtime_error("couldnt create string"); } + + mpl_toolkitsmod = PyImport_Import(mpl_toolkits); + Py_DECREF(mpl_toolkits); + if (!mpl_toolkitsmod) { throw std::runtime_error("Error loading module mpl_toolkits!"); } + + axis3dmod = PyImport_Import(axis3d); + Py_DECREF(axis3d); + if (!axis3dmod) { throw std::runtime_error("Error loading module mpl_toolkits.mplot3d!"); } + } + + assert(x.size() == y.size()); + assert(y.size() == z.size()); + + PyObject *xarray = detail::get_array(x); + PyObject *yarray = detail::get_array(y); + PyObject *zarray = detail::get_array(z); + + // construct positional args + PyObject *args = PyTuple_New(3); + PyTuple_SetItem(args, 0, xarray); + PyTuple_SetItem(args, 1, yarray); + PyTuple_SetItem(args, 2, zarray); + + // Build up the kw args. + PyObject *kwargs = PyDict_New(); + + for (std::map::const_iterator it = keywords.begin(); + it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), + PyString_FromString(it->second.c_str())); + } + + PyObject *fig = + PyObject_CallObject(detail::_interpreter::get().s_python_function_figure, + detail::_interpreter::get().s_python_empty_tuple); + if (!fig) throw std::runtime_error("Call to figure() failed."); + + PyObject *gca_kwargs = PyDict_New(); + PyDict_SetItemString(gca_kwargs, "projection", PyString_FromString("3d")); + + PyObject *gca = PyObject_GetAttrString(fig, "gca"); + if (!gca) throw std::runtime_error("No gca"); + Py_INCREF(gca); + PyObject *axis = PyObject_Call( + gca, detail::_interpreter::get().s_python_empty_tuple, gca_kwargs); + + if (!axis) throw std::runtime_error("No axis"); + Py_INCREF(axis); + + Py_DECREF(gca); + Py_DECREF(gca_kwargs); + + PyObject *plot3 = PyObject_GetAttrString(axis, "plot"); + if (!plot3) throw std::runtime_error("No 3D line plot"); + Py_INCREF(plot3); + PyObject *res = PyObject_Call(plot3, args, kwargs); + if (!res) throw std::runtime_error("Failed 3D line plot"); + Py_DECREF(plot3); + + Py_DECREF(axis); + Py_DECREF(args); + Py_DECREF(kwargs); + if (res) Py_DECREF(res); +} + +template +bool stem(const std::vector &x, const std::vector &y, const std::map& keywords) +{ + assert(x.size() == y.size()); + + detail::_interpreter::get(); + + // using numpy arrays + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + // construct positional args + PyObject* args = PyTuple_New(2); + PyTuple_SetItem(args, 0, xarray); + PyTuple_SetItem(args, 1, yarray); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for (std::map::const_iterator it = + keywords.begin(); it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), + PyString_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call( + detail::_interpreter::get().s_python_function_stem, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + if (res) + Py_DECREF(res); + + return res; +} + +template< typename Numeric > +bool fill(const std::vector& x, const std::vector& y, const std::map& keywords) +{ + assert(x.size() == y.size()); + + detail::_interpreter::get(); + + // using numpy arrays + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + // construct positional args + PyObject* args = PyTuple_New(2); + PyTuple_SetItem(args, 0, xarray); + PyTuple_SetItem(args, 1, yarray); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for (auto it = keywords.begin(); it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_fill, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + + if (res) Py_DECREF(res); + + return res; +} + +template< typename Numeric > +bool fill_between(const std::vector& x, const std::vector& y1, const std::vector& y2, const std::map& keywords) +{ + assert(x.size() == y1.size()); + assert(x.size() == y2.size()); + + detail::_interpreter::get(); + + // using numpy arrays + PyObject* xarray = detail::get_array(x); + PyObject* y1array = detail::get_array(y1); + PyObject* y2array = detail::get_array(y2); + + // construct positional args + PyObject* args = PyTuple_New(3); + PyTuple_SetItem(args, 0, xarray); + PyTuple_SetItem(args, 1, y1array); + PyTuple_SetItem(args, 2, y2array); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_fill_between, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + if(res) Py_DECREF(res); + + return res; +} + +template +bool arrow(Numeric x, Numeric y, Numeric end_x, Numeric end_y, const std::string& fc = "r", + const std::string ec = "k", Numeric head_length = 0.25, Numeric head_width = 0.1625) { + PyObject* obj_x = PyFloat_FromDouble(x); + PyObject* obj_y = PyFloat_FromDouble(y); + PyObject* obj_end_x = PyFloat_FromDouble(end_x); + PyObject* obj_end_y = PyFloat_FromDouble(end_y); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "fc", PyString_FromString(fc.c_str())); + PyDict_SetItemString(kwargs, "ec", PyString_FromString(ec.c_str())); + PyDict_SetItemString(kwargs, "head_width", PyFloat_FromDouble(head_width)); + PyDict_SetItemString(kwargs, "head_length", PyFloat_FromDouble(head_length)); + + PyObject* plot_args = PyTuple_New(4); + PyTuple_SetItem(plot_args, 0, obj_x); + PyTuple_SetItem(plot_args, 1, obj_y); + PyTuple_SetItem(plot_args, 2, obj_end_x); + PyTuple_SetItem(plot_args, 3, obj_end_y); + + PyObject* res = + PyObject_Call(detail::_interpreter::get().s_python_function_arrow, plot_args, kwargs); + + Py_DECREF(plot_args); + Py_DECREF(kwargs); + if (res) + Py_DECREF(res); + + return res; +} + +template< typename Numeric> +bool hist(const std::vector& y, long bins=10,std::string color="b", + double alpha=1.0, bool cumulative=false) +{ + detail::_interpreter::get(); + + PyObject* yarray = detail::get_array(y); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "bins", PyLong_FromLong(bins)); + PyDict_SetItemString(kwargs, "color", PyString_FromString(color.c_str())); + PyDict_SetItemString(kwargs, "alpha", PyFloat_FromDouble(alpha)); + PyDict_SetItemString(kwargs, "cumulative", cumulative ? Py_True : Py_False); + + PyObject* plot_args = PyTuple_New(1); + + PyTuple_SetItem(plot_args, 0, yarray); + + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_hist, plot_args, kwargs); + + + Py_DECREF(plot_args); + Py_DECREF(kwargs); + if(res) Py_DECREF(res); + + return res; +} + +#ifndef WITHOUT_NUMPY +namespace detail { + +inline void imshow(void *ptr, const NPY_TYPES type, const int rows, const int columns, const int colors, const std::map &keywords, PyObject** out) +{ + assert(type == NPY_UINT8 || type == NPY_FLOAT); + assert(colors == 1 || colors == 3 || colors == 4); + + detail::_interpreter::get(); + + // construct args + npy_intp dims[3] = { rows, columns, colors }; + PyObject *args = PyTuple_New(1); + PyTuple_SetItem(args, 0, PyArray_SimpleNewFromData(colors == 1 ? 2 : 3, dims, type, ptr)); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject *res = PyObject_Call(detail::_interpreter::get().s_python_function_imshow, args, kwargs); + Py_DECREF(args); + Py_DECREF(kwargs); + if (!res) + throw std::runtime_error("Call to imshow() failed"); + if (out) + *out = res; + else + Py_DECREF(res); +} + +} // namespace detail + +inline void imshow(const unsigned char *ptr, const int rows, const int columns, const int colors, const std::map &keywords = {}, PyObject** out = nullptr) +{ + detail::imshow((void *) ptr, NPY_UINT8, rows, columns, colors, keywords, out); +} + +inline void imshow(const float *ptr, const int rows, const int columns, const int colors, const std::map &keywords = {}, PyObject** out = nullptr) +{ + detail::imshow((void *) ptr, NPY_FLOAT, rows, columns, colors, keywords, out); +} + +#ifdef WITH_OPENCV +void imshow(const cv::Mat &image, const std::map &keywords = {}) +{ + // Convert underlying type of matrix, if needed + cv::Mat image2; + NPY_TYPES npy_type = NPY_UINT8; + switch (image.type() & CV_MAT_DEPTH_MASK) { + case CV_8U: + image2 = image; + break; + case CV_32F: + image2 = image; + npy_type = NPY_FLOAT; + break; + default: + image.convertTo(image2, CV_MAKETYPE(CV_8U, image.channels())); + } + + // If color image, convert from BGR to RGB + switch (image2.channels()) { + case 3: + cv::cvtColor(image2, image2, CV_BGR2RGB); + break; + case 4: + cv::cvtColor(image2, image2, CV_BGRA2RGBA); + } + + detail::imshow(image2.data, npy_type, image2.rows, image2.cols, image2.channels(), keywords); +} +#endif // WITH_OPENCV +#endif // WITHOUT_NUMPY + +template +bool scatter(const std::vector& x, + const std::vector& y, + const double s=1.0, // The marker size in points**2 + const std::map & keywords = {}) +{ + detail::_interpreter::get(); + + assert(x.size() == y.size()); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "s", PyLong_FromLong(s)); + for (const auto& it : keywords) + { + PyDict_SetItemString(kwargs, it.first.c_str(), PyString_FromString(it.second.c_str())); + } + + PyObject* plot_args = PyTuple_New(2); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_scatter, plot_args, kwargs); + + Py_DECREF(plot_args); + Py_DECREF(kwargs); + if(res) Py_DECREF(res); + + return res; +} + +template +bool boxplot(const std::vector>& data, + const std::vector& labels = {}, + const std::map & keywords = {}) +{ + detail::_interpreter::get(); + + PyObject* listlist = detail::get_listlist(data); + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, listlist); + + PyObject* kwargs = PyDict_New(); + + // kwargs needs the labels, if there are (the correct number of) labels + if (!labels.empty() && labels.size() == data.size()) { + PyDict_SetItemString(kwargs, "labels", detail::get_array(labels)); + } + + // take care of the remaining keywords + for (const auto& it : keywords) + { + PyDict_SetItemString(kwargs, it.first.c_str(), PyString_FromString(it.second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_boxplot, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + + if(res) Py_DECREF(res); + + return res; +} + +template +bool boxplot(const std::vector& data, + const std::map & keywords = {}) +{ + detail::_interpreter::get(); + + PyObject* vector = detail::get_array(data); + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, vector); + + PyObject* kwargs = PyDict_New(); + for (const auto& it : keywords) + { + PyDict_SetItemString(kwargs, it.first.c_str(), PyString_FromString(it.second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_boxplot, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + + if(res) Py_DECREF(res); + + return res; +} + +template +bool bar(const std::vector & x, + const std::vector & y, + std::string ec = "black", + std::string ls = "-", + double lw = 1.0, + const std::map & keywords = {}) +{ + detail::_interpreter::get(); + + PyObject * xarray = detail::get_array(x); + PyObject * yarray = detail::get_array(y); + + PyObject * kwargs = PyDict_New(); + + PyDict_SetItemString(kwargs, "ec", PyString_FromString(ec.c_str())); + PyDict_SetItemString(kwargs, "ls", PyString_FromString(ls.c_str())); + PyDict_SetItemString(kwargs, "lw", PyFloat_FromDouble(lw)); + + for (std::map::const_iterator it = + keywords.begin(); + it != keywords.end(); + ++it) { + PyDict_SetItemString( + kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject * plot_args = PyTuple_New(2); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + + PyObject * res = PyObject_Call( + detail::_interpreter::get().s_python_function_bar, plot_args, kwargs); + + Py_DECREF(plot_args); + Py_DECREF(kwargs); + if (res) Py_DECREF(res); + + return res; +} + +template +bool bar(const std::vector & y, + std::string ec = "black", + std::string ls = "-", + double lw = 1.0, + const std::map & keywords = {}) +{ + using T = typename std::remove_reference::type::value_type; + + detail::_interpreter::get(); + + std::vector x; + for (std::size_t i = 0; i < y.size(); i++) { x.push_back(i); } + + return bar(x, y, ec, ls, lw, keywords); +} + +inline bool subplots_adjust(const std::map& keywords = {}) +{ + detail::_interpreter::get(); + + PyObject* kwargs = PyDict_New(); + for (std::map::const_iterator it = + keywords.begin(); it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), + PyFloat_FromDouble(it->second)); + } + + + PyObject* plot_args = PyTuple_New(0); + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_subplots_adjust, plot_args, kwargs); + + Py_DECREF(plot_args); + Py_DECREF(kwargs); + if(res) Py_DECREF(res); + + return res; +} + +template< typename Numeric> +bool named_hist(std::string label,const std::vector& y, long bins=10, std::string color="b", double alpha=1.0) +{ + detail::_interpreter::get(); + + PyObject* yarray = detail::get_array(y); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "label", PyString_FromString(label.c_str())); + PyDict_SetItemString(kwargs, "bins", PyLong_FromLong(bins)); + PyDict_SetItemString(kwargs, "color", PyString_FromString(color.c_str())); + PyDict_SetItemString(kwargs, "alpha", PyFloat_FromDouble(alpha)); + + + PyObject* plot_args = PyTuple_New(1); + PyTuple_SetItem(plot_args, 0, yarray); + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_hist, plot_args, kwargs); + + Py_DECREF(plot_args); + Py_DECREF(kwargs); + if(res) Py_DECREF(res); + + return res; +} + +template +bool plot(const std::vector& x, const std::vector& y, const std::string& s = "") +{ + assert(x.size() == y.size()); + + detail::_interpreter::get(); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(s.c_str()); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, pystring); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_plot, plot_args); + + Py_DECREF(plot_args); + if(res) Py_DECREF(res); + + return res; +} + +template +bool contour(const std::vector& x, const std::vector& y, + const std::vector& z, + const std::map& keywords = {}) { + assert(x.size() == y.size() && x.size() == z.size()); + + PyObject* xarray = get_array(x); + PyObject* yarray = get_array(y); + PyObject* zarray = get_array(z); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, zarray); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for (std::map::const_iterator it = keywords.begin(); + it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject* res = + PyObject_Call(detail::_interpreter::get().s_python_function_contour, plot_args, kwargs); + + Py_DECREF(kwargs); + Py_DECREF(plot_args); + if (res) + Py_DECREF(res); + + return res; +} + +template +bool quiver(const std::vector& x, const std::vector& y, const std::vector& u, const std::vector& w, const std::map& keywords = {}) +{ + assert(x.size() == y.size() && x.size() == u.size() && u.size() == w.size()); + + detail::_interpreter::get(); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + PyObject* uarray = detail::get_array(u); + PyObject* warray = detail::get_array(w); + + PyObject* plot_args = PyTuple_New(4); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, uarray); + PyTuple_SetItem(plot_args, 3, warray); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call( + detail::_interpreter::get().s_python_function_quiver, plot_args, kwargs); + + Py_DECREF(kwargs); + Py_DECREF(plot_args); + if (res) + Py_DECREF(res); + + return res; +} + +template +bool stem(const std::vector& x, const std::vector& y, const std::string& s = "") +{ + assert(x.size() == y.size()); + + detail::_interpreter::get(); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(s.c_str()); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, pystring); + + PyObject* res = PyObject_CallObject( + detail::_interpreter::get().s_python_function_stem, plot_args); + + Py_DECREF(plot_args); + if (res) + Py_DECREF(res); + + return res; +} + +template +bool semilogx(const std::vector& x, const std::vector& y, const std::string& s = "") +{ + assert(x.size() == y.size()); + + detail::_interpreter::get(); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(s.c_str()); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, pystring); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_semilogx, plot_args); + + Py_DECREF(plot_args); + if(res) Py_DECREF(res); + + return res; +} + +template +bool semilogy(const std::vector& x, const std::vector& y, const std::string& s = "") +{ + assert(x.size() == y.size()); + + detail::_interpreter::get(); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(s.c_str()); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, pystring); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_semilogy, plot_args); + + Py_DECREF(plot_args); + if(res) Py_DECREF(res); + + return res; +} + +template +bool loglog(const std::vector& x, const std::vector& y, const std::string& s = "") +{ + assert(x.size() == y.size()); + + detail::_interpreter::get(); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(s.c_str()); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, pystring); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_loglog, plot_args); + + Py_DECREF(plot_args); + if(res) Py_DECREF(res); + + return res; +} + +template +bool errorbar(const std::vector &x, const std::vector &y, const std::vector &yerr, const std::map &keywords = {}) +{ + assert(x.size() == y.size()); + + detail::_interpreter::get(); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + PyObject* yerrarray = detail::get_array(yerr); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyString_FromString(it->second.c_str())); + } + + PyDict_SetItemString(kwargs, "yerr", yerrarray); + + PyObject *plot_args = PyTuple_New(2); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + + PyObject *res = PyObject_Call(detail::_interpreter::get().s_python_function_errorbar, plot_args, kwargs); + + Py_DECREF(kwargs); + Py_DECREF(plot_args); + + if (res) + Py_DECREF(res); + else + throw std::runtime_error("Call to errorbar() failed."); + + return res; +} + +template +bool named_plot(const std::string& name, const std::vector& y, const std::string& format = "") +{ + detail::_interpreter::get(); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "label", PyString_FromString(name.c_str())); + + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(format.c_str()); + + PyObject* plot_args = PyTuple_New(2); + + PyTuple_SetItem(plot_args, 0, yarray); + PyTuple_SetItem(plot_args, 1, pystring); + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_plot, plot_args, kwargs); + + Py_DECREF(kwargs); + Py_DECREF(plot_args); + if (res) Py_DECREF(res); + + return res; +} + +template +bool named_plot(const std::string& name, const std::vector& x, const std::vector& y, const std::string& format = "") +{ + detail::_interpreter::get(); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "label", PyString_FromString(name.c_str())); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(format.c_str()); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, pystring); + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_plot, plot_args, kwargs); + + Py_DECREF(kwargs); + Py_DECREF(plot_args); + if (res) Py_DECREF(res); + + return res; +} + +template +bool named_semilogx(const std::string& name, const std::vector& x, const std::vector& y, const std::string& format = "") +{ + detail::_interpreter::get(); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "label", PyString_FromString(name.c_str())); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(format.c_str()); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, pystring); + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_semilogx, plot_args, kwargs); + + Py_DECREF(kwargs); + Py_DECREF(plot_args); + if (res) Py_DECREF(res); + + return res; +} + +template +bool named_semilogy(const std::string& name, const std::vector& x, const std::vector& y, const std::string& format = "") +{ + detail::_interpreter::get(); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "label", PyString_FromString(name.c_str())); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(format.c_str()); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, pystring); + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_semilogy, plot_args, kwargs); + + Py_DECREF(kwargs); + Py_DECREF(plot_args); + if (res) Py_DECREF(res); + + return res; +} + +template +bool named_loglog(const std::string& name, const std::vector& x, const std::vector& y, const std::string& format = "") +{ + detail::_interpreter::get(); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "label", PyString_FromString(name.c_str())); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(format.c_str()); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, pystring); + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_loglog, plot_args, kwargs); + + Py_DECREF(kwargs); + Py_DECREF(plot_args); + if (res) Py_DECREF(res); + + return res; +} + +template +bool plot(const std::vector& y, const std::string& format = "") +{ + std::vector x(y.size()); + for(size_t i=0; i +bool plot(const std::vector& y, const std::map& keywords) +{ + std::vector x(y.size()); + for(size_t i=0; i +bool stem(const std::vector& y, const std::string& format = "") +{ + std::vector x(y.size()); + for (size_t i = 0; i < x.size(); ++i) x.at(i) = i; + return stem(x, y, format); +} + +template +void text(Numeric x, Numeric y, const std::string& s = "") +{ + detail::_interpreter::get(); + + PyObject* args = PyTuple_New(3); + PyTuple_SetItem(args, 0, PyFloat_FromDouble(x)); + PyTuple_SetItem(args, 1, PyFloat_FromDouble(y)); + PyTuple_SetItem(args, 2, PyString_FromString(s.c_str())); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_text, args); + if(!res) throw std::runtime_error("Call to text() failed."); + + Py_DECREF(args); + Py_DECREF(res); +} + +inline void colorbar(PyObject* mappable = NULL, const std::map& keywords = {}) +{ + if (mappable == NULL) + throw std::runtime_error("Must call colorbar with PyObject* returned from an image, contour, surface, etc."); + + detail::_interpreter::get(); + + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, mappable); + + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyFloat_FromDouble(it->second)); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_colorbar, args, kwargs); + if(!res) throw std::runtime_error("Call to colorbar() failed."); + + Py_DECREF(args); + Py_DECREF(kwargs); + Py_DECREF(res); +} + + +inline long figure(long number = -1) +{ + detail::_interpreter::get(); + + PyObject *res; + if (number == -1) + res = PyObject_CallObject(detail::_interpreter::get().s_python_function_figure, detail::_interpreter::get().s_python_empty_tuple); + else { + assert(number > 0); + + // Make sure interpreter is initialised + detail::_interpreter::get(); + + PyObject *args = PyTuple_New(1); + PyTuple_SetItem(args, 0, PyLong_FromLong(number)); + res = PyObject_CallObject(detail::_interpreter::get().s_python_function_figure, args); + Py_DECREF(args); + } + + if(!res) throw std::runtime_error("Call to figure() failed."); + + PyObject* num = PyObject_GetAttrString(res, "number"); + if (!num) throw std::runtime_error("Could not get number attribute of figure object"); + const long figureNumber = PyLong_AsLong(num); + + Py_DECREF(num); + Py_DECREF(res); + + return figureNumber; +} + +inline bool fignum_exists(long number) +{ + detail::_interpreter::get(); + + PyObject *args = PyTuple_New(1); + PyTuple_SetItem(args, 0, PyLong_FromLong(number)); + PyObject *res = PyObject_CallObject(detail::_interpreter::get().s_python_function_fignum_exists, args); + if(!res) throw std::runtime_error("Call to fignum_exists() failed."); + + bool ret = PyObject_IsTrue(res); + Py_DECREF(res); + Py_DECREF(args); + + return ret; +} + +inline void figure_size(size_t w, size_t h) +{ + detail::_interpreter::get(); + + const size_t dpi = 100; + PyObject* size = PyTuple_New(2); + PyTuple_SetItem(size, 0, PyFloat_FromDouble((double)w / dpi)); + PyTuple_SetItem(size, 1, PyFloat_FromDouble((double)h / dpi)); + + PyObject* kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "figsize", size); + PyDict_SetItemString(kwargs, "dpi", PyLong_FromSize_t(dpi)); + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_figure, + detail::_interpreter::get().s_python_empty_tuple, kwargs); + + Py_DECREF(kwargs); + + if(!res) throw std::runtime_error("Call to figure_size() failed."); + Py_DECREF(res); +} + +inline void legend() +{ + detail::_interpreter::get(); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_legend, detail::_interpreter::get().s_python_empty_tuple); + if(!res) throw std::runtime_error("Call to legend() failed."); + + Py_DECREF(res); +} + +inline void legend(const std::map& keywords) +{ + detail::_interpreter::get(); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyString_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_legend, detail::_interpreter::get().s_python_empty_tuple, kwargs); + if(!res) throw std::runtime_error("Call to legend() failed."); + + Py_DECREF(kwargs); + Py_DECREF(res); +} + +template +void ylim(Numeric left, Numeric right) +{ + detail::_interpreter::get(); + + PyObject* list = PyList_New(2); + PyList_SetItem(list, 0, PyFloat_FromDouble(left)); + PyList_SetItem(list, 1, PyFloat_FromDouble(right)); + + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, list); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_ylim, args); + if(!res) throw std::runtime_error("Call to ylim() failed."); + + Py_DECREF(args); + Py_DECREF(res); +} + +template +void xlim(Numeric left, Numeric right) +{ + detail::_interpreter::get(); + + PyObject* list = PyList_New(2); + PyList_SetItem(list, 0, PyFloat_FromDouble(left)); + PyList_SetItem(list, 1, PyFloat_FromDouble(right)); + + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, list); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_xlim, args); + if(!res) throw std::runtime_error("Call to xlim() failed."); + + Py_DECREF(args); + Py_DECREF(res); +} + + +inline double* xlim() +{ + detail::_interpreter::get(); + + PyObject* args = PyTuple_New(0); + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_xlim, args); + PyObject* left = PyTuple_GetItem(res,0); + PyObject* right = PyTuple_GetItem(res,1); + + double* arr = new double[2]; + arr[0] = PyFloat_AsDouble(left); + arr[1] = PyFloat_AsDouble(right); + + if(!res) throw std::runtime_error("Call to xlim() failed."); + + Py_DECREF(res); + return arr; +} + + +inline double* ylim() +{ + detail::_interpreter::get(); + + PyObject* args = PyTuple_New(0); + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_ylim, args); + PyObject* left = PyTuple_GetItem(res,0); + PyObject* right = PyTuple_GetItem(res,1); + + double* arr = new double[2]; + arr[0] = PyFloat_AsDouble(left); + arr[1] = PyFloat_AsDouble(right); + + if(!res) throw std::runtime_error("Call to ylim() failed."); + + Py_DECREF(res); + return arr; +} + +template +inline void xticks(const std::vector &ticks, const std::vector &labels = {}, const std::map& keywords = {}) +{ + assert(labels.size() == 0 || ticks.size() == labels.size()); + + detail::_interpreter::get(); + + // using numpy array + PyObject* ticksarray = detail::get_array(ticks); + + PyObject* args; + if(labels.size() == 0) { + // construct positional args + args = PyTuple_New(1); + PyTuple_SetItem(args, 0, ticksarray); + } else { + // make tuple of tick labels + PyObject* labelstuple = PyTuple_New(labels.size()); + for (size_t i = 0; i < labels.size(); i++) + PyTuple_SetItem(labelstuple, i, PyUnicode_FromString(labels[i].c_str())); + + // construct positional args + args = PyTuple_New(2); + PyTuple_SetItem(args, 0, ticksarray); + PyTuple_SetItem(args, 1, labelstuple); + } + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyString_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_xticks, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + if(!res) throw std::runtime_error("Call to xticks() failed"); + + Py_DECREF(res); +} + +template +inline void xticks(const std::vector &ticks, const std::map& keywords) +{ + xticks(ticks, {}, keywords); +} + +template +inline void yticks(const std::vector &ticks, const std::vector &labels = {}, const std::map& keywords = {}) +{ + assert(labels.size() == 0 || ticks.size() == labels.size()); + + detail::_interpreter::get(); + + // using numpy array + PyObject* ticksarray = detail::get_array(ticks); + + PyObject* args; + if(labels.size() == 0) { + // construct positional args + args = PyTuple_New(1); + PyTuple_SetItem(args, 0, ticksarray); + } else { + // make tuple of tick labels + PyObject* labelstuple = PyTuple_New(labels.size()); + for (size_t i = 0; i < labels.size(); i++) + PyTuple_SetItem(labelstuple, i, PyUnicode_FromString(labels[i].c_str())); + + // construct positional args + args = PyTuple_New(2); + PyTuple_SetItem(args, 0, ticksarray); + PyTuple_SetItem(args, 1, labelstuple); + } + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyString_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_yticks, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + if(!res) throw std::runtime_error("Call to yticks() failed"); + + Py_DECREF(res); +} + +template +inline void yticks(const std::vector &ticks, const std::map& keywords) +{ + yticks(ticks, {}, keywords); +} + +template inline void margins(Numeric margin) +{ + // construct positional args + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, PyFloat_FromDouble(margin)); + + PyObject* res = + PyObject_CallObject(detail::_interpreter::get().s_python_function_margins, args); + if (!res) + throw std::runtime_error("Call to margins() failed."); + + Py_DECREF(args); + Py_DECREF(res); +} + +template inline void margins(Numeric margin_x, Numeric margin_y) +{ + // construct positional args + PyObject* args = PyTuple_New(2); + PyTuple_SetItem(args, 0, PyFloat_FromDouble(margin_x)); + PyTuple_SetItem(args, 1, PyFloat_FromDouble(margin_y)); + + PyObject* res = + PyObject_CallObject(detail::_interpreter::get().s_python_function_margins, args); + if (!res) + throw std::runtime_error("Call to margins() failed."); + + Py_DECREF(args); + Py_DECREF(res); +} + + +inline void tick_params(const std::map& keywords, const std::string axis = "both") +{ + detail::_interpreter::get(); + + // construct positional args + PyObject* args; + args = PyTuple_New(1); + PyTuple_SetItem(args, 0, PyString_FromString(axis.c_str())); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for (std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyString_FromString(it->second.c_str())); + } + + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_tick_params, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + if (!res) throw std::runtime_error("Call to tick_params() failed"); + + Py_DECREF(res); +} + +inline void subplot(long nrows, long ncols, long plot_number) +{ + detail::_interpreter::get(); + + // construct positional args + PyObject* args = PyTuple_New(3); + PyTuple_SetItem(args, 0, PyFloat_FromDouble(nrows)); + PyTuple_SetItem(args, 1, PyFloat_FromDouble(ncols)); + PyTuple_SetItem(args, 2, PyFloat_FromDouble(plot_number)); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_subplot, args); + if(!res) throw std::runtime_error("Call to subplot() failed."); + + Py_DECREF(args); + Py_DECREF(res); +} + +inline void subplot2grid(long nrows, long ncols, long rowid=0, long colid=0, long rowspan=1, long colspan=1) +{ + detail::_interpreter::get(); + + PyObject* shape = PyTuple_New(2); + PyTuple_SetItem(shape, 0, PyLong_FromLong(nrows)); + PyTuple_SetItem(shape, 1, PyLong_FromLong(ncols)); + + PyObject* loc = PyTuple_New(2); + PyTuple_SetItem(loc, 0, PyLong_FromLong(rowid)); + PyTuple_SetItem(loc, 1, PyLong_FromLong(colid)); + + PyObject* args = PyTuple_New(4); + PyTuple_SetItem(args, 0, shape); + PyTuple_SetItem(args, 1, loc); + PyTuple_SetItem(args, 2, PyLong_FromLong(rowspan)); + PyTuple_SetItem(args, 3, PyLong_FromLong(colspan)); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_subplot2grid, args); + if(!res) throw std::runtime_error("Call to subplot2grid() failed."); + + Py_DECREF(shape); + Py_DECREF(loc); + Py_DECREF(args); + Py_DECREF(res); +} + +inline void title(const std::string &titlestr, const std::map &keywords = {}) +{ + detail::_interpreter::get(); + + PyObject* pytitlestr = PyString_FromString(titlestr.c_str()); + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, pytitlestr); + + PyObject* kwargs = PyDict_New(); + for (auto it = keywords.begin(); it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_title, args, kwargs); + if(!res) throw std::runtime_error("Call to title() failed."); + + Py_DECREF(args); + Py_DECREF(kwargs); + Py_DECREF(res); +} + +inline void suptitle(const std::string &suptitlestr, const std::map &keywords = {}) +{ + detail::_interpreter::get(); + + PyObject* pysuptitlestr = PyString_FromString(suptitlestr.c_str()); + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, pysuptitlestr); + + PyObject* kwargs = PyDict_New(); + for (auto it = keywords.begin(); it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_suptitle, args, kwargs); + if(!res) throw std::runtime_error("Call to suptitle() failed."); + + Py_DECREF(args); + Py_DECREF(kwargs); + Py_DECREF(res); +} + +inline void axis(const std::string &axisstr) +{ + detail::_interpreter::get(); + + PyObject* str = PyString_FromString(axisstr.c_str()); + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, str); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_axis, args); + if(!res) throw std::runtime_error("Call to title() failed."); + + Py_DECREF(args); + Py_DECREF(res); +} + +inline void axvline(double x, double ymin = 0., double ymax = 1., const std::map& keywords = std::map()) +{ + detail::_interpreter::get(); + + // construct positional args + PyObject* args = PyTuple_New(3); + PyTuple_SetItem(args, 0, PyFloat_FromDouble(x)); + PyTuple_SetItem(args, 1, PyFloat_FromDouble(ymin)); + PyTuple_SetItem(args, 2, PyFloat_FromDouble(ymax)); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyString_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_axvline, args, kwargs); + + Py_DECREF(args); + Py_DECREF(kwargs); + + if(res) Py_DECREF(res); +} + +inline void axvspan(double xmin, double xmax, double ymin = 0., double ymax = 1., const std::map& keywords = std::map()) +{ + // construct positional args + PyObject* args = PyTuple_New(4); + PyTuple_SetItem(args, 0, PyFloat_FromDouble(xmin)); + PyTuple_SetItem(args, 1, PyFloat_FromDouble(xmax)); + PyTuple_SetItem(args, 2, PyFloat_FromDouble(ymin)); + PyTuple_SetItem(args, 3, PyFloat_FromDouble(ymax)); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + if (it->first == "linewidth" || it->first == "alpha") + PyDict_SetItemString(kwargs, it->first.c_str(), PyFloat_FromDouble(std::stod(it->second))); + else + PyDict_SetItemString(kwargs, it->first.c_str(), PyString_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_axvspan, args, kwargs); + Py_DECREF(args); + Py_DECREF(kwargs); + + if(res) Py_DECREF(res); +} + +inline void xlabel(const std::string &str, const std::map &keywords = {}) +{ + detail::_interpreter::get(); + + PyObject* pystr = PyString_FromString(str.c_str()); + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, pystr); + + PyObject* kwargs = PyDict_New(); + for (auto it = keywords.begin(); it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_xlabel, args, kwargs); + if(!res) throw std::runtime_error("Call to xlabel() failed."); + + Py_DECREF(args); + Py_DECREF(kwargs); + Py_DECREF(res); +} + +inline void ylabel(const std::string &str, const std::map& keywords = {}) +{ + detail::_interpreter::get(); + + PyObject* pystr = PyString_FromString(str.c_str()); + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, pystr); + + PyObject* kwargs = PyDict_New(); + for (auto it = keywords.begin(); it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_ylabel, args, kwargs); + if(!res) throw std::runtime_error("Call to ylabel() failed."); + + Py_DECREF(args); + Py_DECREF(kwargs); + Py_DECREF(res); +} + +inline void set_zlabel(const std::string &str, const std::map& keywords = {}) +{ + detail::_interpreter::get(); + + // Same as with plot_surface: We lazily load the modules here the first time + // this function is called because I'm not sure that we can assume "matplotlib + // installed" implies "mpl_toolkits installed" on all platforms, and we don't + // want to require it for people who don't need 3d plots. + static PyObject *mpl_toolkitsmod = nullptr, *axis3dmod = nullptr; + if (!mpl_toolkitsmod) { + PyObject* mpl_toolkits = PyString_FromString("mpl_toolkits"); + PyObject* axis3d = PyString_FromString("mpl_toolkits.mplot3d"); + if (!mpl_toolkits || !axis3d) { throw std::runtime_error("couldnt create string"); } + + mpl_toolkitsmod = PyImport_Import(mpl_toolkits); + Py_DECREF(mpl_toolkits); + if (!mpl_toolkitsmod) { throw std::runtime_error("Error loading module mpl_toolkits!"); } + + axis3dmod = PyImport_Import(axis3d); + Py_DECREF(axis3d); + if (!axis3dmod) { throw std::runtime_error("Error loading module mpl_toolkits.mplot3d!"); } + } + + PyObject* pystr = PyString_FromString(str.c_str()); + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, pystr); + + PyObject* kwargs = PyDict_New(); + for (auto it = keywords.begin(); it != keywords.end(); ++it) { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject *ax = + PyObject_CallObject(detail::_interpreter::get().s_python_function_gca, + detail::_interpreter::get().s_python_empty_tuple); + if (!ax) throw std::runtime_error("Call to gca() failed."); + Py_INCREF(ax); + + PyObject *zlabel = PyObject_GetAttrString(ax, "set_zlabel"); + if (!zlabel) throw std::runtime_error("Attribute set_zlabel not found."); + Py_INCREF(zlabel); + + PyObject *res = PyObject_Call(zlabel, args, kwargs); + if (!res) throw std::runtime_error("Call to set_zlabel() failed."); + Py_DECREF(zlabel); + + Py_DECREF(ax); + Py_DECREF(args); + Py_DECREF(kwargs); + if (res) Py_DECREF(res); +} + +inline void grid(bool flag) +{ + detail::_interpreter::get(); + + PyObject* pyflag = flag ? Py_True : Py_False; + Py_INCREF(pyflag); + + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, pyflag); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_grid, args); + if(!res) throw std::runtime_error("Call to grid() failed."); + + Py_DECREF(args); + Py_DECREF(res); +} + +inline void show(const bool block = true) +{ + detail::_interpreter::get(); + + PyObject* res; + if(block) + { + res = PyObject_CallObject( + detail::_interpreter::get().s_python_function_show, + detail::_interpreter::get().s_python_empty_tuple); + } + else + { + PyObject *kwargs = PyDict_New(); + PyDict_SetItemString(kwargs, "block", Py_False); + res = PyObject_Call( detail::_interpreter::get().s_python_function_show, detail::_interpreter::get().s_python_empty_tuple, kwargs); + Py_DECREF(kwargs); + } + + + if (!res) throw std::runtime_error("Call to show() failed."); + + Py_DECREF(res); +} + +inline void close() +{ + detail::_interpreter::get(); + + PyObject* res = PyObject_CallObject( + detail::_interpreter::get().s_python_function_close, + detail::_interpreter::get().s_python_empty_tuple); + + if (!res) throw std::runtime_error("Call to close() failed."); + + Py_DECREF(res); +} + +inline void xkcd() { + detail::_interpreter::get(); + + PyObject* res; + PyObject *kwargs = PyDict_New(); + + res = PyObject_Call(detail::_interpreter::get().s_python_function_xkcd, + detail::_interpreter::get().s_python_empty_tuple, kwargs); + + Py_DECREF(kwargs); + + if (!res) + throw std::runtime_error("Call to show() failed."); + + Py_DECREF(res); +} + +inline void draw() +{ + detail::_interpreter::get(); + + PyObject* res = PyObject_CallObject( + detail::_interpreter::get().s_python_function_draw, + detail::_interpreter::get().s_python_empty_tuple); + + if (!res) throw std::runtime_error("Call to draw() failed."); + + Py_DECREF(res); +} + +template +inline void pause(Numeric interval) +{ + detail::_interpreter::get(); + + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, PyFloat_FromDouble(interval)); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_pause, args); + if(!res) throw std::runtime_error("Call to pause() failed."); + + Py_DECREF(args); + Py_DECREF(res); +} + +inline void save(const std::string& filename) +{ + detail::_interpreter::get(); + + PyObject* pyfilename = PyString_FromString(filename.c_str()); + + PyObject* args = PyTuple_New(1); + PyTuple_SetItem(args, 0, pyfilename); + std::cout<<"args:"<> ginput(const int numClicks = 1, const std::map& keywords = {}) +{ + detail::_interpreter::get(); + + PyObject *args = PyTuple_New(1); + PyTuple_SetItem(args, 0, PyLong_FromLong(numClicks)); + + // construct keyword args + PyObject* kwargs = PyDict_New(); + for(std::map::const_iterator it = keywords.begin(); it != keywords.end(); ++it) + { + PyDict_SetItemString(kwargs, it->first.c_str(), PyUnicode_FromString(it->second.c_str())); + } + + PyObject* res = PyObject_Call( + detail::_interpreter::get().s_python_function_ginput, args, kwargs); + + Py_DECREF(kwargs); + Py_DECREF(args); + if (!res) throw std::runtime_error("Call to ginput() failed."); + + const size_t len = PyList_Size(res); + std::vector> out; + out.reserve(len); + for (size_t i = 0; i < len; i++) { + PyObject *current = PyList_GetItem(res, i); + std::array position; + position[0] = PyFloat_AsDouble(PyTuple_GetItem(current, 0)); + position[1] = PyFloat_AsDouble(PyTuple_GetItem(current, 1)); + out.push_back(position); + } + Py_DECREF(res); + + return out; +} + +// Actually, is there any reason not to call this automatically for every plot? +inline void tight_layout() { + detail::_interpreter::get(); + + PyObject *res = PyObject_CallObject( + detail::_interpreter::get().s_python_function_tight_layout, + detail::_interpreter::get().s_python_empty_tuple); + + if (!res) throw std::runtime_error("Call to tight_layout() failed."); + + Py_DECREF(res); +} + +// Support for variadic plot() and initializer lists: + +namespace detail { + +template +using is_function = typename std::is_function>>::type; + +template +struct is_callable_impl; + +template +struct is_callable_impl +{ + typedef is_function type; +}; // a non-object is callable iff it is a function + +template +struct is_callable_impl +{ + struct Fallback { void operator()(); }; + struct Derived : T, Fallback { }; + + template struct Check; + + template + static std::true_type test( ... ); // use a variadic function to make sure (1) it accepts everything and (2) its always the worst match + + template + static std::false_type test( Check* ); + +public: + typedef decltype(test(nullptr)) type; + typedef decltype(&Fallback::operator()) dtype; + static constexpr bool value = type::value; +}; // an object is callable iff it defines operator() + +template +struct is_callable +{ + // dispatch to is_callable_impl or is_callable_impl depending on whether T is of class type or not + typedef typename is_callable_impl::value, T>::type type; +}; + +template +struct plot_impl { }; + +template<> +struct plot_impl +{ + template + bool operator()(const IterableX& x, const IterableY& y, const std::string& format) + { + // 2-phase lookup for distance, begin, end + using std::distance; + using std::begin; + using std::end; + + auto xs = distance(begin(x), end(x)); + auto ys = distance(begin(y), end(y)); + assert(xs == ys && "x and y data must have the same number of elements!"); + + PyObject* xlist = PyList_New(xs); + PyObject* ylist = PyList_New(ys); + PyObject* pystring = PyString_FromString(format.c_str()); + + auto itx = begin(x), ity = begin(y); + for(size_t i = 0; i < xs; ++i) { + PyList_SetItem(xlist, i, PyFloat_FromDouble(*itx++)); + PyList_SetItem(ylist, i, PyFloat_FromDouble(*ity++)); + } + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xlist); + PyTuple_SetItem(plot_args, 1, ylist); + PyTuple_SetItem(plot_args, 2, pystring); + + PyObject* res = PyObject_CallObject(detail::_interpreter::get().s_python_function_plot, plot_args); + + Py_DECREF(plot_args); + if(res) Py_DECREF(res); + + return res; + } +}; + +template<> +struct plot_impl +{ + template + bool operator()(const Iterable& ticks, const Callable& f, const std::string& format) + { + if(begin(ticks) == end(ticks)) return true; + + // We could use additional meta-programming to deduce the correct element type of y, + // but all values have to be convertible to double anyways + std::vector y; + for(auto x : ticks) y.push_back(f(x)); + return plot_impl()(ticks,y,format); + } +}; + +} // end namespace detail + +// recursion stop for the above +template +bool plot() { return true; } + +template +bool plot(const A& a, const B& b, const std::string& format, Args... args) +{ + return detail::plot_impl::type>()(a,b,format) && plot(args...); +} + +/* + * This group of plot() functions is needed to support initializer lists, i.e. calling + * plot( {1,2,3,4} ) + */ +inline bool plot(const std::vector& x, const std::vector& y, const std::string& format = "") { + return plot(x,y,format); +} + +inline bool plot(const std::vector& y, const std::string& format = "") { + return plot(y,format); +} + +inline bool plot(const std::vector& x, const std::vector& y, const std::map& keywords) { + return plot(x,y,keywords); +} + +/* + * This class allows dynamic plots, ie changing the plotted data without clearing and re-plotting + */ +class Plot +{ +public: + // default initialization with plot label, some data and format + template + Plot(const std::string& name, const std::vector& x, const std::vector& y, const std::string& format = "") { + detail::_interpreter::get(); + + assert(x.size() == y.size()); + + PyObject* kwargs = PyDict_New(); + if(name != "") + PyDict_SetItemString(kwargs, "label", PyString_FromString(name.c_str())); + + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* pystring = PyString_FromString(format.c_str()); + + PyObject* plot_args = PyTuple_New(3); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + PyTuple_SetItem(plot_args, 2, pystring); + + PyObject* res = PyObject_Call(detail::_interpreter::get().s_python_function_plot, plot_args, kwargs); + + Py_DECREF(kwargs); + Py_DECREF(plot_args); + + if(res) + { + line= PyList_GetItem(res, 0); + + if(line) + set_data_fct = PyObject_GetAttrString(line,"set_data"); + else + Py_DECREF(line); + Py_DECREF(res); + } + } + + // shorter initialization with name or format only + // basically calls line, = plot([], []) + Plot(const std::string& name = "", const std::string& format = "") + : Plot(name, std::vector(), std::vector(), format) {} + + template + bool update(const std::vector& x, const std::vector& y) { + assert(x.size() == y.size()); + if(set_data_fct) + { + PyObject* xarray = detail::get_array(x); + PyObject* yarray = detail::get_array(y); + + PyObject* plot_args = PyTuple_New(2); + PyTuple_SetItem(plot_args, 0, xarray); + PyTuple_SetItem(plot_args, 1, yarray); + + PyObject* res = PyObject_CallObject(set_data_fct, plot_args); + if (res) Py_DECREF(res); + return res; + } + return false; + } + + // clears the plot but keep it available + bool clear() { + return update(std::vector(), std::vector()); + } + + // definitely remove this line + void remove() { + if(line) + { + auto remove_fct = PyObject_GetAttrString(line,"remove"); + PyObject* args = PyTuple_New(0); + PyObject* res = PyObject_CallObject(remove_fct, args); + if (res) Py_DECREF(res); + } + decref(); + } + + ~Plot() { + decref(); + } +private: + + void decref() { + if(line) + Py_DECREF(line); + if(set_data_fct) + Py_DECREF(set_data_fct); + } + + + PyObject* line = nullptr; + PyObject* set_data_fct = nullptr; +}; + +} // end namespace matplotlibcpp diff --git a/src/rm_nav/rm_localization/point_lio/include/so3_math.h b/src/rm_nav/rm_localization/point_lio/include/so3_math.h new file mode 100755 index 0000000..f91d8a6 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/include/so3_math.h @@ -0,0 +1,128 @@ +#ifndef SO3_MATH_H +#define SO3_MATH_H + +#include +#include + +// #include + +#define SKEW_SYM_MATRX(v) 0.0,-v[2],v[1],v[2],0.0,-v[0],-v[1],v[0],0.0 + +template +Eigen::Matrix skew_sym_mat(const Eigen::Matrix &v) +{ + Eigen::Matrix skew_sym_mat; + skew_sym_mat<<0.0,-v[2],v[1],v[2],0.0,-v[0],-v[1],v[0],0.0; + return skew_sym_mat; +} + +template +Eigen::Matrix Exp(const Eigen::Matrix &ang) +{ + T ang_norm = ang.norm(); + Eigen::Matrix Eye3 = Eigen::Matrix::Identity(); + if (ang_norm > 0.0000001) + { + Eigen::Matrix r_axis = ang / ang_norm; + Eigen::Matrix K; + K << SKEW_SYM_MATRX(r_axis); + /// Roderigous Tranformation + return Eye3 + std::sin(ang_norm) * K + (1.0 - std::cos(ang_norm)) * K * K; + } + else + { + return Eye3; + } +} + +template +Eigen::Matrix Exp(const Eigen::Matrix &ang_vel, const Ts &dt) +{ + T ang_vel_norm = ang_vel.norm(); + Eigen::Matrix Eye3 = Eigen::Matrix::Identity(); + + if (ang_vel_norm > 0.0000001) + { + Eigen::Matrix r_axis = ang_vel / ang_vel_norm; + Eigen::Matrix K; + + K << SKEW_SYM_MATRX(r_axis); + + T r_ang = ang_vel_norm * dt; + + /// Roderigous Tranformation + return Eye3 + std::sin(r_ang) * K + (1.0 - std::cos(r_ang)) * K * K; + } + else + { + return Eye3; + } +} + +template +Eigen::Matrix Exp(const T &v1, const T &v2, const T &v3) +{ + T &&norm = sqrt(v1 * v1 + v2 * v2 + v3 * v3); + Eigen::Matrix Eye3 = Eigen::Matrix::Identity(); + if (norm > 0.00001) + { + T r_ang[3] = {v1 / norm, v2 / norm, v3 / norm}; + Eigen::Matrix K; + K << SKEW_SYM_MATRX(r_ang); + + /// Roderigous Tranformation + return Eye3 + std::sin(norm) * K + (1.0 - std::cos(norm)) * K * K; + } + else + { + return Eye3; + } +} + +/* Logrithm of a Rotation Matrix */ +template +Eigen::Matrix Log(const Eigen::Matrix R) +{ + T theta = (R.trace() > 3.0 - 1e-6) ? 0.0 : std::acos(0.5 * (R.trace() - 1)); + Eigen::Matrix K(R(2,1) - R(1,2), R(0,2) - R(2,0), R(1,0) - R(0,1)); + return (std::abs(theta) < 0.001) ? (0.5 * K) : (0.5 * theta / std::sin(theta) * K); +} + +template +Eigen::Matrix RotMtoEuler(const Eigen::Matrix &rot) +{ + T sy = sqrt(rot(0,0)*rot(0,0) + rot(1,0)*rot(1,0)); + bool singular = sy < 1e-6; + T x, y, z; + if(!singular) + { + x = atan2(rot(2, 1), rot(2, 2)); + y = atan2(-rot(2, 0), sy); + z = atan2(rot(1, 0), rot(0, 0)); + } + else + { + x = atan2(-rot(1, 2), rot(1, 1)); + y = atan2(-rot(2, 0), sy); + z = 0; + } + Eigen::Matrix ang(x, y, z); + return ang; +} + +template +Eigen::Matrix3d Jacob_right_inv(Eigen::Vector3d &vec){ + Eigen::Matrix3d hat_v, res; + hat_v << SKEW_SYM_MATRX(vec); + if(vec.norm() > 1e-6) + { + res = Eigen::Matrix::Identity() + 0.5 * hat_v + (1 - vec.norm() * std::cos(vec.norm() / 2) / 2 / std::sin(vec.norm() / 2)) * hat_v * hat_v / vec.squaredNorm(); + } + else + { + res = Eigen::Matrix::Identity(); + } + return res; +} + +#endif diff --git a/src/rm_nav/rm_localization/point_lio/launch/gdb_debug_example.launch.py b/src/rm_nav/rm_localization/point_lio/launch/gdb_debug_example.launch.py new file mode 100755 index 0000000..a452b76 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/launch/gdb_debug_example.launch.py @@ -0,0 +1,68 @@ +from launch import LaunchDescription +from launch.actions import GroupAction, DeclareLaunchArgument +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + # Declare the RViz argument + rviz_arg = DeclareLaunchArgument( + 'rviz', default_value='true', + description='Flag to launch RViz.') + + # Node parameters, including those from the YAML configuration file + laser_mapping_params = [ + { + 'use_imu_as_input': False, # Change to True to use IMU as input of Point-LIO + 'prop_at_freq_of_imu': True, + 'check_satu': True, + 'init_map_size': 10, + 'point_filter_num': 1, # Options: 1, 3 + 'space_down_sample': True, + 'filter_size_surf': 0.3, # Options: 0.5, 0.3, 0.2, 0.15, 0.1 + 'filter_size_map': 0.2, # Options: 0.5, 0.3, 0.15, 0.1 + 'cube_side_length': 1000.0, # Option: 1000, 2000 + 'runtime_pos_log_enable': False # Option: True + }, + # PathJoinSubstitution([ + # FindPackageShare('point_lio'), + # 'config', 'horizon.yaml' + # ]) + ] + + # Node definition for laserMapping with Point-LIO + laser_mapping_node = Node( + package='point_lio', + executable='pointlio_mapping', + name='laserMapping', + output='screen', + parameters=laser_mapping_params, + prefix='gdb -ex run --args' + ) + + # Conditional RViz node launch + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz', + arguments=['-d', PathJoinSubstitution([ + FindPackageShare('point_lio'), + 'rviz_cfg', 'loam_livox.rviz' + ])], + condition=IfCondition(LaunchConfiguration('rviz')), + prefix='nice' + ) + + # Assemble the launch description + ld = LaunchDescription([ + rviz_arg, + laser_mapping_node, + GroupAction( + actions=[rviz_node], + condition=IfCondition(LaunchConfiguration('rviz')) + ), + ]) + + return ld diff --git a/src/rm_nav/rm_localization/point_lio/launch/mapping_avia.launch.py b/src/rm_nav/rm_localization/point_lio/launch/mapping_avia.launch.py new file mode 100755 index 0000000..322f7be --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/launch/mapping_avia.launch.py @@ -0,0 +1,68 @@ +from launch import LaunchDescription +from launch.actions import GroupAction, DeclareLaunchArgument +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + # Declare the RViz argument + rviz_arg = DeclareLaunchArgument( + 'rviz', default_value='true', + description='Flag to launch RViz.') + + # Node parameters, including those from the YAML configuration file + laser_mapping_params = [ + PathJoinSubstitution([ + FindPackageShare('point_lio'), + 'config', 'avia.yaml' + ]), + { + 'use_imu_as_input': False, # Change to True to use IMU as input of Point-LIO + 'prop_at_freq_of_imu': True, + 'check_satu': True, + 'init_map_size': 10, + 'point_filter_num': 1, # options: 4, 3 + 'space_down_sample': True, + 'filter_size_surf': 0.3, # options: 0.5, 0.3, 0.2, 0.15, 0.1 + 'filter_size_map': 0.2, # options: 0.5, 0.3, 0.15, 0.1 + 'ivox_nearby_type': 6, # Options: 0.5, 0.3, 0.15, 0.1 + 'runtime_pos_log_enable': False, # option: True + }, + ] + + # Node definition for laserMapping with Point-LIO + laser_mapping_node = Node( + package='point_lio', + executable='pointlio_mapping', + name='laserMapping', + output='screen', + parameters=laser_mapping_params, + # prefix='gdb -ex run --args' + ) + + # Conditional RViz node launch + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz', + arguments=['-d', PathJoinSubstitution([ + FindPackageShare('point_lio'), + 'rviz_cfg', 'loam_livox.rviz' + ])], + condition=IfCondition(LaunchConfiguration('rviz')), + prefix='nice' + ) + + # Assemble the launch description + ld = LaunchDescription([ + rviz_arg, + laser_mapping_node, + GroupAction( + actions=[rviz_node], + condition=IfCondition(LaunchConfiguration('rviz')) + ), + ]) + + return ld diff --git a/src/rm_nav/rm_localization/point_lio/launch/mapping_horizon.launch.py b/src/rm_nav/rm_localization/point_lio/launch/mapping_horizon.launch.py new file mode 100755 index 0000000..bee1cbc --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/launch/mapping_horizon.launch.py @@ -0,0 +1,68 @@ +from launch import LaunchDescription +from launch.actions import GroupAction, DeclareLaunchArgument +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + # Declare the RViz argument + rviz_arg = DeclareLaunchArgument( + 'rviz', default_value='true', + description='Flag to launch RViz.') + + # Node parameters, including those from the YAML configuration file + laser_mapping_params = [ + PathJoinSubstitution([ + FindPackageShare('point_lio'), + 'config', 'horizon.yaml' + ]), + { + 'use_imu_as_input': False, # Change to True to use IMU as input of Point-LIO + 'prop_at_freq_of_imu': True, + 'check_satu': True, + 'init_map_size': 10, + 'point_filter_num': 3, # Options: 1, 3 + 'space_down_sample': True, + 'filter_size_surf': 0.5, # Options: 0.5, 0.3, 0.2, 0.15, 0.1 + 'filter_size_map': 0.5, # Options: 0.5, 0.3, 0.15, 0.1 + 'ivox_nearby_type': 6, # Options: 0.5, 0.3, 0.15, 0.1 + 'runtime_pos_log_enable': False, # Option: True + } + ] + + # Node definition for laserMapping with Point-LIO + laser_mapping_node = Node( + package='point_lio', + executable='pointlio_mapping', + name='laserMapping', + output='screen', + parameters=laser_mapping_params, + # prefix='gdb -ex run --args' + ) + + # Conditional RViz node launch + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz', + arguments=['-d', PathJoinSubstitution([ + FindPackageShare('point_lio'), + 'rviz_cfg', 'loam_livox.rviz' + ])], + condition=IfCondition(LaunchConfiguration('rviz')), + prefix='nice' + ) + + # Assemble the launch description + ld = LaunchDescription([ + rviz_arg, + laser_mapping_node, + GroupAction( + actions=[rviz_node], + condition=IfCondition(LaunchConfiguration('rviz')) + ), + ]) + + return ld diff --git a/src/rm_nav/rm_localization/point_lio/launch/mapping_mid360.launch.py b/src/rm_nav/rm_localization/point_lio/launch/mapping_mid360.launch.py new file mode 100755 index 0000000..d8d2a8b --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/launch/mapping_mid360.launch.py @@ -0,0 +1,68 @@ +from launch import LaunchDescription +from launch.actions import GroupAction, DeclareLaunchArgument +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + # Declare the RViz argument + rviz_arg = DeclareLaunchArgument( + 'rviz', default_value='true', + description='Flag to launch RViz.') + + # Node parameters, including those from the YAML configuration file + laser_mapping_params = [ + PathJoinSubstitution([ + FindPackageShare('point_lio'), + 'config', 'mid360.yaml' + ]), + { + 'use_imu_as_input': False, # Change to True to use IMU as input of Point-LIO + 'prop_at_freq_of_imu': True, + 'check_satu': True, + 'init_map_size': 10, + 'point_filter_num': 3, # Options: 1, 3 + 'space_down_sample': True, + 'filter_size_surf': 0.5, # Options: 0.5, 0.3, 0.2, 0.15, 0.1 + 'filter_size_map': 0.5, # Options: 0.5, 0.3, 0.15, 0.1 + 'ivox_nearby_type': 6, # Options: 0, 6, 18, 26 + 'runtime_pos_log_enable': False, # Option: True + } + ] + + # Node definition for laserMapping with Point-LIO + laser_mapping_node = Node( + package='point_lio', + executable='pointlio_mapping', + name='laserMapping', + output='screen', + parameters=laser_mapping_params, + # prefix='gdb -ex run --args' + ) + + # Conditional RViz node launch + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz', + arguments=['-d', PathJoinSubstitution([ + FindPackageShare('point_lio'), + 'rviz_cfg', 'loam_livox.rviz' + ])], + condition=IfCondition(LaunchConfiguration('rviz')), + prefix='nice' + ) + + # Assemble the launch description + ld = LaunchDescription([ + rviz_arg, + laser_mapping_node, + GroupAction( + actions=[rviz_node], + condition=IfCondition(LaunchConfiguration('rviz')) + ), + ]) + + return ld diff --git a/src/rm_nav/rm_localization/point_lio/launch/mapping_ouster64.launch.py b/src/rm_nav/rm_localization/point_lio/launch/mapping_ouster64.launch.py new file mode 100755 index 0000000..f1f355e --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/launch/mapping_ouster64.launch.py @@ -0,0 +1,68 @@ +from launch import LaunchDescription +from launch.actions import GroupAction, DeclareLaunchArgument +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + # Declare the RViz argument + rviz_arg = DeclareLaunchArgument( + 'rviz', default_value='true', + description='Flag to launch RViz.') + + # Node parameters, including those from the YAML configuration file + laser_mapping_params = [ + PathJoinSubstitution([ + FindPackageShare('point_lio'), + 'config', 'ouster64.yaml' + ]), + { + 'use_imu_as_input': False, # Change to True to use IMU as input of Point-LIO + 'prop_at_freq_of_imu': True, + 'check_satu': True, + 'init_map_size': 10, + 'point_filter_num': 4, # Options: 4, 3 + 'space_down_sample': True, + 'filter_size_surf': 0.5, # Options: 0.5, 0.3, 0.2, 0.15, 0.1 + 'filter_size_map': 0.5, # Options: 0.5, 0.3, 0.15, 0.1 + 'ivox_nearby_type': 6, # Options: 0.5, 0.3, 0.15, 0.1 + 'runtime_pos_log_enable': False, # Option: True + } + ] + + # Node definition for laserMapping with Point-LIO + laser_mapping_node = Node( + package='point_lio', + executable='pointlio_mapping', + name='laserMapping', + output='screen', + parameters=laser_mapping_params, + # prefix='gdb -ex run --args' + ) + + # Conditional RViz node launch + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz', + arguments=['-d', PathJoinSubstitution([ + FindPackageShare('point_lio'), + 'rviz_cfg', 'loam_livox.rviz' + ])], + condition=IfCondition(LaunchConfiguration('rviz')), + prefix='nice' + ) + + # Assemble the launch description + ld = LaunchDescription([ + rviz_arg, + laser_mapping_node, + GroupAction( + actions=[rviz_node], + condition=IfCondition(LaunchConfiguration('rviz')) + ), + ]) + + return ld diff --git a/src/rm_nav/rm_localization/point_lio/launch/mapping_velody16.launch.py b/src/rm_nav/rm_localization/point_lio/launch/mapping_velody16.launch.py new file mode 100755 index 0000000..155b655 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/launch/mapping_velody16.launch.py @@ -0,0 +1,68 @@ +from launch import LaunchDescription +from launch.actions import GroupAction, DeclareLaunchArgument +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + # Declare the RViz argument + rviz_arg = DeclareLaunchArgument( + 'rviz', default_value='true', + description='Flag to launch RViz.') + + # Node parameters, including those from the YAML configuration file + laser_mapping_params = [ + PathJoinSubstitution([ + FindPackageShare('point_lio'), + 'config', 'velody16.yaml' + ]), + { + 'use_imu_as_input': False, # Change to True to use IMU as input of Point-LIO + 'prop_at_freq_of_imu': True, + 'check_satu': True, + 'init_map_size': 10, + 'point_filter_num': 4, # Options: 4, 3 + 'space_down_sample': True, + 'filter_size_surf': 0.5, # Options: 0.5, 0.3, 0.2, 0.15, 0.1 + 'filter_size_map': 0.5, # Options: 0.5, 0.3, 0.15, 0.1 + 'ivox_nearby_type': 6, # Options: 0.5, 0.3, 0.15, 0.1 + 'runtime_pos_log_enable': False, # Option: True + } + ] + + # Node definition for laserMapping with Point-LIO + laser_mapping_node = Node( + package='point_lio', + executable='pointlio_mapping', + name='laserMapping', + output='screen', + parameters=laser_mapping_params, + # prefix='gdb -ex run --args' + ) + + # Conditional RViz node launch + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz', + arguments=['-d', PathJoinSubstitution([ + FindPackageShare('point_lio'), + 'rviz_cfg', 'loam_livox.rviz' + ])], + condition=IfCondition(LaunchConfiguration('rviz')), + prefix='nice' + ) + + # Assemble the launch description + ld = LaunchDescription([ + rviz_arg, + laser_mapping_node, + GroupAction( + actions=[rviz_node], + condition=IfCondition(LaunchConfiguration('rviz')) + ), + ]) + + return ld diff --git a/src/rm_nav/rm_localization/point_lio/msg/LocalSensorExternalTrigger.msg b/src/rm_nav/rm_localization/point_lio/msg/LocalSensorExternalTrigger.msg new file mode 100644 index 0000000..d70dabe --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/msg/LocalSensorExternalTrigger.msg @@ -0,0 +1,6 @@ +# This message contains essential time information of the +# local sensor (lidar/inertial sensor) when get triggered +Header header # local timestamp of the trigger +uint32 trigger_id +uint32 event_id +time timestamp_host # corresponding timestamp of the Host PC, not used \ No newline at end of file diff --git a/src/rm_nav/rm_localization/point_lio/package.xml b/src/rm_nav/rm_localization/point_lio/package.xml new file mode 100755 index 0000000..c34ba70 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/package.xml @@ -0,0 +1,37 @@ + + + point_lio + 0.0.0 + + This is a modified version of LOAM which is original algorithm + is described in the following paper: + J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time. + Robotics: Science and Systems Conference (RSS). Berkeley, CA, July 2014. + + + claydergc + + BSD + + Dongjiao He + + ament_cmake + + rclcpp + rclpy + sensor_msgs + geometry_msgs + visualization_msgs + nav_msgs + tf2_ros + pcl_ros + pcl_conversions + livox_ros_driver2 + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/rm_nav/rm_localization/point_lio/rviz_cfg/.gitignore b/src/rm_nav/rm_localization/point_lio/rviz_cfg/.gitignore new file mode 100755 index 0000000..e69de29 diff --git a/src/rm_nav/rm_localization/point_lio/rviz_cfg/loam_livox.rviz b/src/rm_nav/rm_localization/point_lio/rviz_cfg/loam_livox.rviz new file mode 100755 index 0000000..e0ec320 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/rviz_cfg/loam_livox.rviz @@ -0,0 +1,335 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /CloudRegistered1 + Splitter Ratio: 0.5 + Tree Height: 549 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: CloudRegistered +Visualization Manager: + Class: "" + Displays: + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + base_link_fake: + Value: true + imu_link: + Value: true + livox_frame: + Value: true + map: + Value: true + odom: + Value: true + wheel_1: + Value: true + wheel_2: + Value: true + wheel_3: + Value: true + wheel_4: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + map: + {} + odom: + base_link: + base_link_fake: + {} + imu_link: + {} + livox_frame: + {} + wheel_1: + {} + wheel_2: + {} + wheel_3: + {} + wheel_4: + {} + Update Interval: 0 + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz_default_plugins/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 100 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /aft_mapped_to_init + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /path + Value: true + - Alpha: 0.6000000238418579 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 13.2266845703125 + Min Value: -0.19345740973949432 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 30 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 186 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: CloudRegistered + Position Transformer: XYZ + Selectable: true + Size (Pixels): 1 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cloud_registered + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 184 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: CloudEffected + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cloud_effected + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 2.036320447921753 + Min Value: -0.09378375858068466 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 255 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: CloudMap + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /Laser_map + Use Fixed Frame: true + Use rainbow: true + Value: false + Enabled: true + Global Options: + Background Color: 0; 0; 0 + Fixed Frame: odom + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 15.3889799118042 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 2.570868730545044 + Y: 0.5283783674240112 + Z: 1.2330546379089355 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.044796347618103 + Target Frame: + Value: Orbit (rviz_default_plugins) + Yaw: 2.370389699935913 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730200000438000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005ad0000003efc0100000002fb0000000800540069006d00650100000000000005ad000002fb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000451000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1453 + X: 1602 + Y: 250 diff --git a/src/rm_nav/rm_localization/point_lio/src/Estimator.cpp b/src/rm_nav/rm_localization/point_lio/src/Estimator.cpp new file mode 100755 index 0000000..7a31947 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/src/Estimator.cpp @@ -0,0 +1,402 @@ +// #include <../include/IKFoM/IKFoM_toolkit/esekfom/esekfom.hpp> +#include "Estimator.h" + +PointCloudXYZI::Ptr normvec(new PointCloudXYZI(100000, 1)); +std::vector time_seq; +PointCloudXYZI::Ptr feats_down_body(new PointCloudXYZI(10000, 1)); +PointCloudXYZI::Ptr feats_down_world(new PointCloudXYZI(10000, 1)); +std::vector pbody_list; +std::vector Nearest_Points; +std::shared_ptr ivox_ = nullptr; // localmap in ivox +std::vector pointSearchSqDis(NUM_MATCH_POINTS); +bool point_selected_surf[100000] = {0}; +std::vector crossmat_list; +int effct_feat_num = 0; +int k = 0; +int idx = -1; +esekfom::esekf kf_input; +esekfom::esekf kf_output; +input_ikfom input_in; +V3D angvel_avr, acc_avr, acc_avr_norm; +int feats_down_size = 0; +V3D Lidar_T_wrt_IMU(Zero3d); +M3D Lidar_R_wrt_IMU(Eye3d); +double G_m_s2 = 9.81; + +Eigen::Matrix process_noise_cov_input() +{ + Eigen::Matrix cov; + cov.setZero(); + cov.block<3, 3>(3, 3).diagonal() << gyr_cov_input, gyr_cov_input, gyr_cov_input; + cov.block<3, 3>(12, 12).diagonal() << acc_cov_input, acc_cov_input, acc_cov_input; + cov.block<3, 3>(15, 15).diagonal() << b_gyr_cov, b_gyr_cov, b_gyr_cov; + cov.block<3, 3>(18, 18).diagonal() << b_acc_cov, b_acc_cov, b_acc_cov; + // MTK::get_cov::type cov = MTK::get_cov::type::Zero(); + // MTK::setDiagonal(cov, &process_noise_input::ng, gyr_cov_input);// 0.03 + // MTK::setDiagonal(cov, &process_noise_input::na, acc_cov_input); // *dt 0.01 0.01 * dt * dt 0.05 + // MTK::setDiagonal(cov, &process_noise_input::nbg, b_gyr_cov); // *dt 0.00001 0.00001 * dt *dt 0.3 //0.001 0.0001 0.01 + // MTK::setDiagonal(cov, &process_noise_input::nba, b_acc_cov); //0.001 0.05 0.0001/out 0.01 + return cov; +} + +Eigen::Matrix process_noise_cov_output() +{ + Eigen::Matrix cov; + cov.setZero(); + cov.block<3, 3>(12, 12).diagonal() << vel_cov, vel_cov, vel_cov; + cov.block<3, 3>(15, 15).diagonal() << gyr_cov_output, gyr_cov_output, gyr_cov_output; + cov.block<3, 3>(18, 18).diagonal() << acc_cov_output, acc_cov_output, acc_cov_output; + cov.block<3, 3>(24, 24).diagonal() << b_gyr_cov, b_gyr_cov, b_gyr_cov; + cov.block<3, 3>(27, 27).diagonal() << b_acc_cov, b_acc_cov, b_acc_cov; + return cov; +} + +Eigen::Matrix get_f_input(state_input &s, const input_ikfom &in) +{ + Eigen::Matrix res = Eigen::Matrix::Zero(); + vect3 omega; + in.gyro.boxminus(omega, s.bg); + vect3 a_inertial = s.rot * (in.acc-s.ba); // .normalized() + for(int i = 0; i < 3; i++ ){ + res(i) = s.vel[i]; + res(i + 3) = omega[i]; + res(i + 12) = a_inertial[i] + s.gravity[i]; + } + return res; +} + +Eigen::Matrix get_f_output(state_output &s, const input_ikfom &in) +{ + Eigen::Matrix res = Eigen::Matrix::Zero(); + vect3 a_inertial = s.rot * s.acc; // .normalized() + for(int i = 0; i < 3; i++ ){ + res(i) = s.vel[i]; + res(i + 3) = s.omg[i]; + res(i + 12) = a_inertial[i] + s.gravity[i]; + } + return res; +} + +Eigen::Matrix df_dx_input(state_input &s, const input_ikfom &in) +{ + Eigen::Matrix cov = Eigen::Matrix::Zero(); + cov.template block<3, 3>(0, 12) = Eigen::Matrix3d::Identity(); + vect3 acc_; + in.acc.boxminus(acc_, s.ba); + vect3 omega; + in.gyro.boxminus(omega, s.bg); + cov.template block<3, 3>(12, 3) = -s.rot*MTK::hat(acc_); // .normalized().toRotationMatrix() + cov.template block<3, 3>(12, 18) = -s.rot; //.normalized().toRotationMatrix(); + // Eigen::Matrix vec = Eigen::Matrix::Zero(); + // Eigen::Matrix grav_matrix; + // s.S2_Mx(grav_matrix, vec, 21); + cov.template block<3, 3>(12, 21) = Eigen::Matrix3d::Identity(); // grav_matrix; + cov.template block<3, 3>(3, 15) = -Eigen::Matrix3d::Identity(); + return cov; +} + +Eigen::Matrix df_dx_output(state_output &s, const input_ikfom &in) +{ + Eigen::Matrix cov = Eigen::Matrix::Zero(); + cov.template block<3, 3>(0, 12) = Eigen::Matrix3d::Identity(); + cov.template block<3, 3>(12, 3) = -s.rot*MTK::hat(s.acc); // .normalized().toRotationMatrix() + cov.template block<3, 3>(12, 18) = s.rot; //.normalized().toRotationMatrix(); + // Eigen::Matrix vec = Eigen::Matrix::Zero(); + // Eigen::Matrix grav_matrix; + // s.S2_Mx(grav_matrix, vec, 21); + cov.template block<3, 3>(12, 21) = Eigen::Matrix3d::Identity(); // grav_matrix; + cov.template block<3, 3>(3, 15) = Eigen::Matrix3d::Identity(); + return cov; +} + +void h_model_input(state_input &s, Eigen::Matrix3d cov_p, Eigen::Matrix3d cov_R, esekfom::dyn_share_modified &ekfom_data) +{ + bool match_in_map = false; + VF(4) pabcd; + pabcd.setZero(); + normvec->resize(time_seq[k]); + int effect_num_k = 0; + for (int j = 0; j < time_seq[k]; j++) + { + PointType &point_body_j = feats_down_body->points[idx+j+1]; + PointType &point_world_j = feats_down_world->points[idx+j+1]; + pointBodyToWorld(&point_body_j, &point_world_j); + V3D p_body = pbody_list[idx+j+1]; + double p_norm = p_body.norm(); + V3D p_world; + p_world << point_world_j.x, point_world_j.y, point_world_j.z; + { + auto &points_near = Nearest_Points[idx+j+1]; + ivox_->GetClosestPoint(point_world_j, points_near, NUM_MATCH_POINTS); // + if ((points_near.size() < NUM_MATCH_POINTS)) // || pointSearchSqDis[NUM_MATCH_POINTS - 1] > 5) // 5) + { + point_selected_surf[idx+j+1] = false; + } + else + { + point_selected_surf[idx+j+1] = false; + if (esti_plane(pabcd, points_near, plane_thr)) //(planeValid) + { + float pd2 = fabs(pabcd(0) * point_world_j.x + pabcd(1) * point_world_j.y + pabcd(2) * point_world_j.z + pabcd(3)); + // V3D norm_vec; + // M3D Rpf, pf; + // pf = crossmat_list[idx+j+1]; + // // pf << SKEW_SYM_MATRX(p_body); + // Rpf = s.rot * pf; + // norm_vec << pabcd(0), pabcd(1), pabcd(2); + // double noise_state = norm_vec.transpose() * (cov_p+Rpf*cov_R*Rpf.transpose()) * norm_vec + sqrt(p_norm) * 0.001; + // // if (p_norm > match_s * pd2 * pd2) + // double epsilon = pd2 / sqrt(noise_state); + // // cout << "check epsilon:" << epsilon << endl; + // double weight = 1.0; // epsilon / sqrt(epsilon * epsilon+1); + // if (epsilon > 1.0) + // { + // weight = sqrt(2 * epsilon - 1) / epsilon; + // pabcd(0) = weight * pabcd(0); + // pabcd(1) = weight * pabcd(1); + // pabcd(2) = weight * pabcd(2); + // pabcd(3) = weight * pabcd(3); + // } + if (p_norm > match_s * pd2 * pd2) + { + point_selected_surf[idx+j+1] = true; + normvec->points[j].x = pabcd(0); + normvec->points[j].y = pabcd(1); + normvec->points[j].z = pabcd(2); + normvec->points[j].intensity = pabcd(3); + effect_num_k ++; + } + } + } + } + } + if (effect_num_k == 0) + { + ekfom_data.valid = false; + return; + } + ekfom_data.M_Noise = laser_point_cov; + ekfom_data.h_x.resize(effect_num_k, 12); + ekfom_data.h_x = Eigen::MatrixXd::Zero(effect_num_k, 12); + ekfom_data.z.resize(effect_num_k); + int m = 0; + + for (int j = 0; j < time_seq[k]; j++) + { + // ekfom_data.converge = false; + if(point_selected_surf[idx+j+1]) + { + V3D norm_vec(normvec->points[j].x, normvec->points[j].y, normvec->points[j].z); + + if (extrinsic_est_en) + { + V3D p_body = pbody_list[idx+j+1]; + M3D p_crossmat, p_imu_crossmat; + p_crossmat << SKEW_SYM_MATRX(p_body); + V3D point_imu = s.offset_R_L_I * p_body + s.offset_T_L_I; + p_imu_crossmat << SKEW_SYM_MATRX(point_imu); + V3D C(s.rot.transpose() * norm_vec); + V3D A(p_imu_crossmat * C); + V3D B(p_crossmat * s.offset_R_L_I.transpose() * C); + ekfom_data.h_x.block<1, 12>(m, 0) << norm_vec(0), norm_vec(1), norm_vec(2), VEC_FROM_ARRAY(A), VEC_FROM_ARRAY(B), VEC_FROM_ARRAY(C); + } + else + { + M3D point_crossmat = crossmat_list[idx+j+1]; + V3D C(s.rot.transpose() * norm_vec); // conjugate().normalized() + V3D A(point_crossmat * C); + ekfom_data.h_x.block<1, 12>(m, 0) << norm_vec(0), norm_vec(1), norm_vec(2), VEC_FROM_ARRAY(A), 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; + } + ekfom_data.z(m) = -norm_vec(0) * feats_down_world->points[idx+j+1].x -norm_vec(1) * feats_down_world->points[idx+j+1].y -norm_vec(2) * feats_down_world->points[idx+j+1].z-normvec->points[j].intensity; + + m++; + } + } + effct_feat_num += effect_num_k; +} + +void h_model_output(state_output &s, Eigen::Matrix3d cov_p, Eigen::Matrix3d cov_R, esekfom::dyn_share_modified &ekfom_data) +{ + bool match_in_map = false; + VF(4) pabcd; + pabcd.setZero(); + normvec->resize(time_seq[k]); + int effect_num_k = 0; + for (int j = 0; j < time_seq[k]; j++) + { + PointType &point_body_j = feats_down_body->points[idx+j+1]; + PointType &point_world_j = feats_down_world->points[idx+j+1]; + pointBodyToWorld(&point_body_j, &point_world_j); + V3D p_body = pbody_list[idx+j+1]; + double p_norm = p_body.norm(); + V3D p_world; + p_world << point_world_j.x, point_world_j.y, point_world_j.z; + { + auto &points_near = Nearest_Points[idx+j+1]; + + ivox_->GetClosestPoint(point_world_j, points_near, NUM_MATCH_POINTS); // + + if ((points_near.size() < NUM_MATCH_POINTS)) // || pointSearchSqDis[NUM_MATCH_POINTS - 1] > 5) + { + point_selected_surf[idx+j+1] = false; + } + else + { + point_selected_surf[idx+j+1] = false; + if (esti_plane(pabcd, points_near, plane_thr)) //(planeValid) + { + float pd2 = fabs(pabcd(0) * point_world_j.x + pabcd(1) * point_world_j.y + pabcd(2) * point_world_j.z + pabcd(3)); + // V3D norm_vec; + // M3D Rpf, pf; + // pf = crossmat_list[idx+j+1]; + // // pf << SKEW_SYM_MATRX(p_body); + // Rpf = s.rot * pf; + // norm_vec << pabcd(0), pabcd(1), pabcd(2); + // double noise_state = norm_vec.transpose() * (cov_p+Rpf*cov_R*Rpf.transpose()) * norm_vec + sqrt(p_norm) * 0.001; + // // if (p_norm > match_s * pd2 * pd2) + // double epsilon = pd2 / sqrt(noise_state); + // double weight = 1.0; // epsilon / sqrt(epsilon * epsilon+1); + // if (epsilon > 1.0) + // { + // weight = sqrt(2 * epsilon - 1) / epsilon; + // pabcd(0) = weight * pabcd(0); + // pabcd(1) = weight * pabcd(1); + // pabcd(2) = weight * pabcd(2); + // pabcd(3) = weight * pabcd(3); + // } + if (p_norm > match_s * pd2 * pd2) + { + // point_selected_surf[i] = true; + point_selected_surf[idx+j+1] = true; + normvec->points[j].x = pabcd(0); + normvec->points[j].y = pabcd(1); + normvec->points[j].z = pabcd(2); + normvec->points[j].intensity = pabcd(3); + effect_num_k ++; + } + } + } + } + } + if (effect_num_k == 0) + { + ekfom_data.valid = false; + return; + } + ekfom_data.M_Noise = laser_point_cov; + ekfom_data.h_x.resize(effect_num_k, 12); + ekfom_data.h_x = Eigen::MatrixXd::Zero(effect_num_k, 12); + ekfom_data.z.resize(effect_num_k); + int m = 0; + for (int j = 0; j < time_seq[k]; j++) + { + // ekfom_data.converge = false; + if(point_selected_surf[idx+j+1]) + { + V3D norm_vec(normvec->points[j].x, normvec->points[j].y, normvec->points[j].z); + if (extrinsic_est_en) + { + V3D p_body = pbody_list[idx+j+1]; + M3D p_crossmat, p_imu_crossmat; + p_crossmat << SKEW_SYM_MATRX(p_body); + V3D point_imu = s.offset_R_L_I * p_body + s.offset_T_L_I; + p_imu_crossmat << SKEW_SYM_MATRX(point_imu); + V3D C(s.rot.transpose() * norm_vec); + V3D A(p_imu_crossmat * C); + V3D B(p_crossmat * s.offset_R_L_I.transpose() * C); + ekfom_data.h_x.block<1, 12>(m, 0) << norm_vec(0), norm_vec(1), norm_vec(2), VEC_FROM_ARRAY(A), VEC_FROM_ARRAY(B), VEC_FROM_ARRAY(C); + } + else + { + M3D point_crossmat = crossmat_list[idx+j+1]; + V3D C(s.rot.transpose() * norm_vec); // conjugate().normalized() + V3D A(point_crossmat * C); + ekfom_data.h_x.block<1, 12>(m, 0) << norm_vec(0), norm_vec(1), norm_vec(2), VEC_FROM_ARRAY(A), 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; + } + ekfom_data.z(m) = -norm_vec(0) * feats_down_world->points[idx+j+1].x -norm_vec(1) * feats_down_world->points[idx+j+1].y -norm_vec(2) * feats_down_world->points[idx+j+1].z-normvec->points[j].intensity; + + m++; + } + } + effct_feat_num += effect_num_k; +} + +void h_model_IMU_output(state_output &s, esekfom::dyn_share_modified &ekfom_data) +{ + std::memset(ekfom_data.satu_check, false, 6); + ekfom_data.z_IMU.block<3,1>(0, 0) = angvel_avr - s.omg - s.bg; + ekfom_data.z_IMU.block<3,1>(3, 0) = acc_avr * G_m_s2 / acc_norm - s.acc - s.ba; + ekfom_data.R_IMU << imu_meas_omg_cov, imu_meas_omg_cov, imu_meas_omg_cov, imu_meas_acc_cov, imu_meas_acc_cov, imu_meas_acc_cov; + if(check_satu) + { + if(fabs(angvel_avr(0)) >= 0.99 * satu_gyro) + { + ekfom_data.satu_check[0] = true; + ekfom_data.z_IMU(0) = 0.0; + } + + if(fabs(angvel_avr(1)) >= 0.99 * satu_gyro) + { + ekfom_data.satu_check[1] = true; + ekfom_data.z_IMU(1) = 0.0; + } + + if(fabs(angvel_avr(2)) >= 0.99 * satu_gyro) + { + ekfom_data.satu_check[2] = true; + ekfom_data.z_IMU(2) = 0.0; + } + + if(fabs(acc_avr(0)) >= 0.99 * satu_acc) + { + ekfom_data.satu_check[3] = true; + ekfom_data.z_IMU(3) = 0.0; + } + + if(fabs(acc_avr(1)) >= 0.99 * satu_acc) + { + ekfom_data.satu_check[4] = true; + ekfom_data.z_IMU(4) = 0.0; + } + + if(fabs(acc_avr(2)) >= 0.99 * satu_acc) + { + ekfom_data.satu_check[5] = true; + ekfom_data.z_IMU(5) = 0.0; + } + } +} + +void pointBodyToWorld(PointType const * const pi, PointType * const po) +{ + V3D p_body(pi->x, pi->y, pi->z); + + V3D p_global; + if (extrinsic_est_en) + { + if (!use_imu_as_input) + { + p_global = kf_output.x_.rot * (kf_output.x_.offset_R_L_I * p_body + kf_output.x_.offset_T_L_I) + kf_output.x_.pos; + } + else + { + p_global = kf_input.x_.rot * (kf_input.x_.offset_R_L_I * p_body + kf_input.x_.offset_T_L_I) + kf_input.x_.pos; + } + } + else + { + if (!use_imu_as_input) + { + p_global = kf_output.x_.rot * (Lidar_R_wrt_IMU * p_body + Lidar_T_wrt_IMU) + kf_output.x_.pos; // .normalized() + } + else + { + p_global = kf_input.x_.rot * (Lidar_R_wrt_IMU * p_body + Lidar_T_wrt_IMU) + kf_input.x_.pos; // .normalized() + } + } + + po->x = p_global(0); + po->y = p_global(1); + po->z = p_global(2); + po->intensity = pi->intensity; +} \ No newline at end of file diff --git a/src/rm_nav/rm_localization/point_lio/src/Estimator.h b/src/rm_nav/rm_localization/point_lio/src/Estimator.h new file mode 100755 index 0000000..8383fb6 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/src/Estimator.h @@ -0,0 +1,61 @@ +#ifndef Estimator_H +#define Estimator_H + +#include "common_lib.h" +#include "parameters.h" +#include +#include +#include +#include +// #include +#include +#include + +extern PointCloudXYZI::Ptr normvec; //(new PointCloudXYZI(100000, 1)); +extern std::vector time_seq; +extern PointCloudXYZI::Ptr feats_down_body; //(new PointCloudXYZI()); +extern PointCloudXYZI::Ptr feats_down_world; //(new PointCloudXYZI()); +extern std::vector pbody_list; +extern std::vector Nearest_Points; +extern std::shared_ptr ivox_; // localmap in ivox +extern std::vector pointSearchSqDis; +extern bool point_selected_surf[100000]; // = {0}; +extern std::vector crossmat_list; +extern int effct_feat_num; +extern int k; +extern int idx; +extern V3D angvel_avr, acc_avr, acc_avr_norm; +extern int feats_down_size; +// extern std::vector normvec_holder; +extern V3D Lidar_T_wrt_IMU; //(Zero3d); +extern M3D Lidar_R_wrt_IMU; //(Eye3d); +extern double G_m_s2; +extern input_ikfom input_in; + +Eigen::Matrix process_noise_cov_input(); + +Eigen::Matrix process_noise_cov_output(); + +//double L_offset_to_I[3] = {0.04165, 0.02326, -0.0284}; // Avia +//vect3 Lidar_offset_to_IMU(L_offset_to_I, 3); +Eigen::Matrix get_f_input(state_input &s, const input_ikfom &in); + +Eigen::Matrix get_f_output(state_output &s, const input_ikfom &in); + +Eigen::Matrix df_dx_input(state_input &s, const input_ikfom &in); + +// Eigen::Matrix df_dw_input(state_input &s, const input_ikfom &in); + +Eigen::Matrix df_dx_output(state_output &s, const input_ikfom &in); + +// Eigen::Matrix df_dw_output(state_output &s); + +void h_model_input(state_input &s, Eigen::Matrix3d cov_p, Eigen::Matrix3d cov_R, esekfom::dyn_share_modified &ekfom_data); + +void h_model_output(state_output &s, Eigen::Matrix3d cov_p, Eigen::Matrix3d cov_R, esekfom::dyn_share_modified &ekfom_data); + +void h_model_IMU_output(state_output &s, esekfom::dyn_share_modified &ekfom_data); + +void pointBodyToWorld(PointType const * const pi, PointType * const po); + +#endif \ No newline at end of file diff --git a/src/rm_nav/rm_localization/point_lio/src/IMU_Processing.cpp b/src/rm_nav/rm_localization/point_lio/src/IMU_Processing.cpp new file mode 100755 index 0000000..19407ab --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/src/IMU_Processing.cpp @@ -0,0 +1,137 @@ +#include "IMU_Processing.h" + +const bool time_list(PointType &x, PointType &y) {return (x.curvature < y.curvature);}; + +void ImuProcess::set_gyr_cov(const V3D &scaler) +{ + cov_gyr_scale = scaler; +} + +void ImuProcess::set_acc_cov(const V3D &scaler) +{ + cov_vel_scale = scaler; +} + +ImuProcess::ImuProcess() + : b_first_frame_(true), imu_need_init_(true), logger(rclcpp::get_logger("ImuProcess")) +{ + imu_en = true; + init_iter_num = 1; + mean_acc = V3D(0, 0, 0.0); + mean_gyr = V3D(0, 0, 0); + after_imu_init_ = false; + state_cov.setIdentity(); +} + + +ImuProcess::~ImuProcess() {} + +void ImuProcess::Reset() +{ + RCLCPP_WARN(logger, "Reset ImuProcess"); + mean_acc = V3D(0, 0, 0.0); + mean_gyr = V3D(0, 0, 0); + imu_need_init_ = true; + init_iter_num = 1; + after_imu_init_ = false; + + time_last_scan = 0.0; +} + +void ImuProcess::Set_init(Eigen::Vector3d &tmp_gravity, Eigen::Matrix3d &rot) +{ + /** 1. initializing the gravity, gyro bias, acc and gyro covariance + ** 2. normalize the acceleration measurenments to unit gravity **/ + // V3D tmp_gravity = - mean_acc / mean_acc.norm() * G_m_s2; // state_gravity; + M3D hat_grav; + hat_grav << 0.0, gravity_(2), -gravity_(1), + -gravity_(2), 0.0, gravity_(0), + gravity_(1), -gravity_(0), 0.0; + double align_norm = (hat_grav * tmp_gravity).norm() / gravity_.norm() / tmp_gravity.norm(); + double align_cos = gravity_.transpose() * tmp_gravity; + align_cos = align_cos / gravity_.norm() / tmp_gravity.norm(); + if (align_norm < 1e-6) + { + if (align_cos > 1e-6) + { + rot = Eye3d; + } + else + { + rot = -Eye3d; + } + } + else + { + V3D align_angle = hat_grav * tmp_gravity / (hat_grav * tmp_gravity).norm() * acos(align_cos); + rot = Exp(align_angle(0), align_angle(1), align_angle(2)); + } +} + +void ImuProcess::IMU_init(const MeasureGroup &meas, int &N) +{ + /** 1. initializing the gravity, gyro bias, acc and gyro covariance + ** 2. normalize the acceleration measurenments to unit gravity **/ + RCLCPP_INFO(logger, "IMU Initializing: %.1f %%", double(N) / MAX_INI_COUNT * 100); + V3D cur_acc, cur_gyr; + + if (b_first_frame_) + { + Reset(); + N = 1; + b_first_frame_ = false; + const auto &imu_acc = meas.imu.front()->linear_acceleration; + const auto &gyr_acc = meas.imu.front()->angular_velocity; + mean_acc << imu_acc.x, imu_acc.y, imu_acc.z; + mean_gyr << gyr_acc.x, gyr_acc.y, gyr_acc.z; + } + + for (const auto &imu : meas.imu) + { + const auto &imu_acc = imu->linear_acceleration; + const auto &gyr_acc = imu->angular_velocity; + cur_acc << imu_acc.x, imu_acc.y, imu_acc.z; + cur_gyr << gyr_acc.x, gyr_acc.y, gyr_acc.z; + + mean_acc += (cur_acc - mean_acc) / N; + mean_gyr += (cur_gyr - mean_gyr) / N; + + N ++; + } +} + +void ImuProcess::Process(const MeasureGroup &meas, PointCloudXYZI::Ptr cur_pcl_un_) +{ + if (imu_en) + { + if(meas.imu.empty()) return; + + if (imu_need_init_) + { + + { + /// The very first lidar frame + IMU_init(meas, init_iter_num); + + imu_need_init_ = true; + + if (init_iter_num > MAX_INI_COUNT) + { + RCLCPP_INFO(logger, "IMU Initializing: %.1f %%", 100.0); + imu_need_init_ = false; + *cur_pcl_un_ = *(meas.lidar); + } + // *cur_pcl_un_ = *(meas.lidar); + } + return; + } + if (!after_imu_init_) after_imu_init_ = true; + *cur_pcl_un_ = *(meas.lidar); + return; + } + else + { + *cur_pcl_un_ = *(meas.lidar); + return; + } +} \ No newline at end of file diff --git a/src/rm_nav/rm_localization/point_lio/src/IMU_Processing.h b/src/rm_nav/rm_localization/point_lio/src/IMU_Processing.h new file mode 100755 index 0000000..520970c --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/src/IMU_Processing.h @@ -0,0 +1,55 @@ +#pragma once +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/// *************Preconfiguration + +#define MAX_INI_COUNT (100) +const bool time_list(PointType &x, PointType &y); // {return (x.curvature < y.curvature);}; + +/// *************IMU Process and undistortion +class ImuProcess +{ + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + ImuProcess(); + ~ImuProcess(); + + void Reset(); + void Process(const MeasureGroup &meas, PointCloudXYZI::Ptr pcl_un_); + void set_gyr_cov(const V3D &scaler); + void set_acc_cov(const V3D &scaler); + void Set_init(Eigen::Vector3d &tmp_gravity, Eigen::Matrix3d &rot); + + MD(12, 12) state_cov = MD(12, 12)::Identity(); + int lidar_type; + V3D gravity_; + bool imu_en; + V3D mean_acc; + bool imu_need_init_ = true; + bool after_imu_init_ = false; + bool b_first_frame_ = true; + double time_last_scan = 0.0; + V3D cov_gyr_scale = V3D(0.0001, 0.0001, 0.0001); + V3D cov_vel_scale = V3D(0.0001, 0.0001, 0.0001); + + private: + void IMU_init(const MeasureGroup &meas, int &N); + + V3D mean_gyr; + int init_iter_num = 1; + rclcpp::Logger logger; +}; diff --git a/src/rm_nav/rm_localization/point_lio/src/laserMapping.cpp b/src/rm_nav/rm_localization/point_lio/src/laserMapping.cpp new file mode 100755 index 0000000..f1d9899 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/src/laserMapping.cpp @@ -0,0 +1,1075 @@ +// #include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include "common_lib.h" +#include "li_initialization.h" + +using namespace std; + +#define PUBFRAME_PERIOD (20) + +const float MOV_THRESHOLD = 1.5f; + +string root_dir = ROOT_DIR; + +int time_log_counter = 0; //, publish_count = 0; + +bool init_map = false, flg_first_scan = true; + +// Time Log Variables +double match_time = 0, solve_time = 0, propag_time = 0, update_time = 0; + +bool flg_reset = false, flg_exit = false; + +// surf feature in map +PointCloudXYZI::Ptr feats_undistort(new PointCloudXYZI()); +PointCloudXYZI::Ptr feats_down_body_space(new PointCloudXYZI()); +PointCloudXYZI::Ptr init_feats_world(new PointCloudXYZI()); +std::deque depth_feats_world; +pcl::VoxelGrid downSizeFilterSurf; +pcl::VoxelGrid downSizeFilterMap; + +V3D euler_cur; + +nav_msgs::msg::Path path; +nav_msgs::msg::Odometry odomAftMapped; +geometry_msgs::msg::PoseStamped msg_body_pose; + +auto logger = rclcpp::get_logger("laserMapping"); + +void SigHandle(int sig) +{ + flg_exit = true; + RCLCPP_WARN(logger, "catch sig %d", sig); + sig_buffer.notify_all(); +} + +inline void dump_lio_state_to_log(FILE * fp) +{ + V3D rot_ang; + if (!use_imu_as_input) { + rot_ang = SO3ToEuler(kf_output.x_.rot); + } else { + rot_ang = SO3ToEuler(kf_input.x_.rot); + } + + fprintf(fp, "%lf ", Measures.lidar_beg_time - first_lidar_time); + fprintf(fp, "%lf %lf %lf ", rot_ang(0), rot_ang(1), rot_ang(2)); // Angle + if (use_imu_as_input) { + fprintf(fp, "%lf %lf %lf ", kf_input.x_.pos(0), kf_input.x_.pos(1), + kf_input.x_.pos(2)); // Pos + fprintf(fp, "%lf %lf %lf ", 0.0, 0.0, 0.0); // omega + fprintf(fp, "%lf %lf %lf ", kf_input.x_.vel(0), kf_input.x_.vel(1), + kf_input.x_.vel(2)); // Vel + fprintf(fp, "%lf %lf %lf ", 0.0, 0.0, 0.0); // Acc + fprintf(fp, "%lf %lf %lf ", kf_input.x_.bg(0), kf_input.x_.bg(1), + kf_input.x_.bg(2)); // Bias_g + fprintf(fp, "%lf %lf %lf ", kf_input.x_.ba(0), kf_input.x_.ba(1), + kf_input.x_.ba(2)); // Bias_a + fprintf( + fp, "%lf %lf %lf ", kf_input.x_.gravity(0), kf_input.x_.gravity(1), + kf_input.x_.gravity(2)); // Bias_a + } else { + fprintf( + fp, "%lf %lf %lf ", kf_output.x_.pos(0), kf_output.x_.pos(1), + kf_output.x_.pos(2)); // Pos + fprintf(fp, "%lf %lf %lf ", 0.0, 0.0, 0.0); // omega + fprintf( + fp, "%lf %lf %lf ", kf_output.x_.vel(0), kf_output.x_.vel(1), + kf_output.x_.vel(2)); // Vel + fprintf(fp, "%lf %lf %lf ", 0.0, 0.0, 0.0); // Acc + fprintf( + fp, "%lf %lf %lf ", kf_output.x_.bg(0), kf_output.x_.bg(1), + kf_output.x_.bg(2)); // Bias_g + fprintf( + fp, "%lf %lf %lf ", kf_output.x_.ba(0), kf_output.x_.ba(1), + kf_output.x_.ba(2)); // Bias_a + fprintf( + fp, "%lf %lf %lf ", kf_output.x_.gravity(0), kf_output.x_.gravity(1), + kf_output.x_.gravity(2)); // Bias_a + } + fprintf(fp, "\r\n"); + fflush(fp); +} + +void pointBodyLidarToIMU(PointType const * const pi, PointType * const po) +{ + V3D p_body_lidar(pi->x, pi->y, pi->z); + V3D p_body_imu; + if (extrinsic_est_en) { + if (!use_imu_as_input) { + p_body_imu = kf_output.x_.offset_R_L_I * p_body_lidar + kf_output.x_.offset_T_L_I; + } else { + p_body_imu = kf_input.x_.offset_R_L_I * p_body_lidar + kf_input.x_.offset_T_L_I; + } + } else { + p_body_imu = Lidar_R_wrt_IMU * p_body_lidar + Lidar_T_wrt_IMU; + } + po->x = p_body_imu(0); + po->y = p_body_imu(1); + po->z = p_body_imu(2); + po->intensity = pi->intensity; +} + +void MapIncremental() +{ + PointVector points_to_add; + int cur_pts = feats_down_world->size(); + points_to_add.reserve(cur_pts); + + for (size_t i = 0; i < cur_pts; ++i) { + /* decide if need add to map */ + PointType & point_world = feats_down_world->points[i]; + if (!Nearest_Points[i].empty()) { + const PointVector & points_near = Nearest_Points[i]; + + Eigen::Vector3f center = + ((point_world.getVector3fMap() / filter_size_map_min).array().floor() + 0.5) * + filter_size_map_min; + bool need_add = true; + for (int readd_i = 0; readd_i < points_near.size(); readd_i++) { + Eigen::Vector3f dis_2_center = points_near[readd_i].getVector3fMap() - center; + if ( + fabs(dis_2_center.x()) < 0.5 * filter_size_map_min && + fabs(dis_2_center.y()) < 0.5 * filter_size_map_min && + fabs(dis_2_center.z()) < 0.5 * filter_size_map_min) { + need_add = false; + break; + } + } + if (need_add) { + points_to_add.emplace_back(point_world); + } + } else { + points_to_add.emplace_back(point_world); + } + } + ivox_->AddPoints(points_to_add); +} + +void publish_init_map( + const rclcpp::Publisher::SharedPtr & pubLaserCloudFullRes) +{ + int size_init_map = init_feats_world->size(); + + sensor_msgs::msg::PointCloud2 laserCloudmsg; + + pcl::toROSMsg(*init_feats_world, laserCloudmsg); + + laserCloudmsg.header.stamp = get_ros_time(lidar_end_time); + laserCloudmsg.header.frame_id = "lidar_odom"; + pubLaserCloudFullRes->publish(laserCloudmsg); +} + +PointCloudXYZI::Ptr pcl_wait_pub(new PointCloudXYZI(500000, 1)); +PointCloudXYZI::Ptr pcl_wait_save(new PointCloudXYZI()); +void publish_frame_world( + const rclcpp::Publisher::SharedPtr & pubLaserCloudFullRes) +{ + if (scan_pub_en) { + PointCloudXYZI::Ptr laserCloudFullRes(feats_down_body); + int size = laserCloudFullRes->points.size(); + + PointCloudXYZI::Ptr laserCloudWorld(new PointCloudXYZI(size, 1)); + + for (int i = 0; i < size; i++) { + laserCloudWorld->points[i].x = feats_down_world->points[i].x; + laserCloudWorld->points[i].y = feats_down_world->points[i].y; + laserCloudWorld->points[i].z = feats_down_world->points[i].z; + laserCloudWorld->points[i].intensity = + feats_down_world->points[i].intensity; // feats_down_world->points[i].y; // + } + sensor_msgs::msg::PointCloud2 laserCloudmsg; + pcl::toROSMsg(*laserCloudWorld, laserCloudmsg); + + laserCloudmsg.header.stamp = get_ros_time(lidar_end_time); + laserCloudmsg.header.frame_id = "lidar_odom"; + pubLaserCloudFullRes->publish(laserCloudmsg); + // publish_count -= PUBFRAME_PERIOD; + } + + /**************** save map ****************/ + /* 1. make sure you have enough memories + 2. noted that pcd save will influence the real-time performences **/ + if (pcd_save_en) { + int size = feats_down_world->points.size(); + PointCloudXYZI::Ptr laserCloudWorld(new PointCloudXYZI(size, 1)); + + for (int i = 0; i < size; i++) { + laserCloudWorld->points[i].x = feats_down_world->points[i].x; + laserCloudWorld->points[i].y = feats_down_world->points[i].y; + laserCloudWorld->points[i].z = feats_down_world->points[i].z; + laserCloudWorld->points[i].intensity = feats_down_world->points[i].intensity; + } + + *pcl_wait_save += *laserCloudWorld; + + static int scan_wait_num = 0; + scan_wait_num++; + if (pcl_wait_save->size() > 0 && pcd_save_interval > 0 && scan_wait_num >= pcd_save_interval) { + pcd_index++; + string all_points_dir( + string(string(ROOT_DIR) + "PCD/scans_") + to_string(pcd_index) + string(".pcd")); + pcl::PCDWriter pcd_writer; + cout << "current scan saved to /PCD/" << all_points_dir << endl; + pcd_writer.writeBinary(all_points_dir, *pcl_wait_save); + pcl_wait_save->clear(); + scan_wait_num = 0; + } + } +} + +void publish_frame_body( + const rclcpp::Publisher::SharedPtr & pubLaserCloudFull_body) +{ + int size = feats_undistort->points.size(); + PointCloudXYZI::Ptr laserCloudIMUBody(new PointCloudXYZI(size, 1)); + + for (int i = 0; i < size; i++) { + pointBodyLidarToIMU(&feats_undistort->points[i], &laserCloudIMUBody->points[i]); + } + + sensor_msgs::msg::PointCloud2 laserCloudmsg; + pcl::toROSMsg(*laserCloudIMUBody, laserCloudmsg); + laserCloudmsg.header.stamp = get_ros_time(lidar_end_time); + laserCloudmsg.header.frame_id = "livox_frame"; + pubLaserCloudFull_body->publish(laserCloudmsg); + // publish_count -= PUBFRAME_PERIOD; +} + +template +void set_posestamp(T & out) +{ + if (!use_imu_as_input) { + out.position.x = kf_output.x_.pos(0); + out.position.y = kf_output.x_.pos(1); + out.position.z = kf_output.x_.pos(2); + Eigen::Quaterniond q(kf_output.x_.rot); + out.orientation.x = q.coeffs()[0]; + out.orientation.y = q.coeffs()[1]; + out.orientation.z = q.coeffs()[2]; + out.orientation.w = q.coeffs()[3]; + } else { + out.position.x = kf_input.x_.pos(0); + out.position.y = kf_input.x_.pos(1); + out.position.z = kf_input.x_.pos(2); + Eigen::Quaterniond q(kf_input.x_.rot); + out.orientation.x = q.coeffs()[0]; + out.orientation.y = q.coeffs()[1]; + out.orientation.z = q.coeffs()[2]; + out.orientation.w = q.coeffs()[3]; + } +} + +void publish_odometry( + const rclcpp::Publisher::SharedPtr pubOdomAftMapped, + std::unique_ptr & tf_br, + std::unique_ptr & tf_buffer, rclcpp::Logger logger_) +{ + odomAftMapped.header.frame_id = "lidar_odom"; + odomAftMapped.child_frame_id = "livox_frame"; + if (publish_odometry_without_downsample) { + odomAftMapped.header.stamp = get_ros_time(time_current); + } else { + odomAftMapped.header.stamp = get_ros_time(lidar_end_time); + } + set_posestamp(odomAftMapped.pose.pose); + + pubOdomAftMapped->publish(odomAftMapped); + + // Publish tf from lidar_odom to base_link + static geometry_msgs::msg::TransformStamped livox_to_base_link_transform; + static bool transform_acquired = false; // Check if the transform has already been acquired + if (!transform_acquired) { + // Get the transform from base_link to livox_frame + try { + livox_to_base_link_transform = + tf_buffer->lookupTransform("livox_frame", "base_link", odomAftMapped.header.stamp); + transform_acquired = + true; // Set the flag to true indicating that the transform has been acquired + } catch (tf2::TransformException & ex) { + RCLCPP_ERROR( + logger_, "Failed to lookup transform from base_link to livox_frame: %s", ex.what()); + return; + } + } + + // Create a TransformStamped message for lidar_odom to base_link + geometry_msgs::msg::TransformStamped transform_stamped; + transform_stamped.header.stamp = odomAftMapped.header.stamp; + transform_stamped.header.frame_id = "lidar_odom"; // Source frame + transform_stamped.child_frame_id = "base_link"; // Target frame + + // Calculate the transform from lidar_odom to base_link by multiplying the transforms + tf2::Transform tf_lidar_odom_to_livox_frame; + tf2::fromMsg(odomAftMapped.pose.pose, tf_lidar_odom_to_livox_frame); + tf2::Transform tf_livox_frame_to_base_link; + tf2::fromMsg(livox_to_base_link_transform.transform, tf_livox_frame_to_base_link); + tf2::Transform tf_lidar_odom_to_base_link = + tf_lidar_odom_to_livox_frame * tf_livox_frame_to_base_link; + + // Convert the resulting transform back to geometry_msgs::TransformStamped + transform_stamped.transform = tf2::toMsg(tf_lidar_odom_to_base_link); + + // Publish the tf + tf_br->sendTransform(transform_stamped); +} + +void publish_path(const rclcpp::Publisher::SharedPtr pubPath) +{ + set_posestamp(msg_body_pose.pose); + // msg_body_pose.header.stamp = rclcpp::Time::now(); + msg_body_pose.header.stamp = get_ros_time(lidar_end_time); + msg_body_pose.header.frame_id = "lidar_odom"; + static int jjj = 0; + jjj++; + // if (jjj % 2 == 0) // if path is too large, the rvis will crash + { + path.poses.emplace_back(msg_body_pose); + pubPath->publish(path); + } +} + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + auto nh = std::make_shared("laserMapping"); + // rclcpp::AsyncSpinner spinner(0); + // spinner.start(); + readParameters(nh); + cout << "lidar_type: " << lidar_type << endl; + ivox_ = std::make_shared(ivox_options_); + + path.header.stamp = get_ros_time(lidar_end_time); + path.header.frame_id = "lidar_odom"; + + /*** variables definition for counting ***/ + int frame_num = 0; + double aver_time_consu = 0, aver_time_icp = 0, aver_time_match = 0, aver_time_incre = 0, + aver_time_solve = 0, aver_time_propag = 0; + + memset(point_selected_surf, true, sizeof(point_selected_surf)); + downSizeFilterSurf.setLeafSize(filter_size_surf_min, filter_size_surf_min, filter_size_surf_min); + downSizeFilterMap.setLeafSize(filter_size_map_min, filter_size_map_min, filter_size_map_min); + + Lidar_T_wrt_IMU << VEC_FROM_ARRAY(extrinT); + Lidar_R_wrt_IMU << MAT_FROM_ARRAY(extrinR); + + if (extrinsic_est_en) { + if (!use_imu_as_input) { + kf_output.x_.offset_R_L_I = Lidar_R_wrt_IMU; + kf_output.x_.offset_T_L_I = Lidar_T_wrt_IMU; + } else { + kf_input.x_.offset_R_L_I = Lidar_R_wrt_IMU; + kf_input.x_.offset_T_L_I = Lidar_T_wrt_IMU; + } + } + + p_imu->lidar_type = p_pre->lidar_type = lidar_type; + p_imu->imu_en = imu_en; + + kf_input.init_dyn_share_modified_2h(get_f_input, df_dx_input, h_model_input); + kf_output.init_dyn_share_modified_3h( + get_f_output, df_dx_output, h_model_output, h_model_IMU_output); + Eigen::Matrix P_init; // = MD(18, 18)::Identity() * 0.1; + reset_cov(P_init); + kf_input.change_P(P_init); + Eigen::Matrix P_init_output; // = MD(24, 24)::Identity() * 0.01; + reset_cov_output(P_init_output); + kf_output.change_P(P_init_output); + Eigen::Matrix Q_input = process_noise_cov_input(); + Eigen::Matrix Q_output = process_noise_cov_output(); + /*** debug record ***/ + FILE * fp; + string pos_log_dir = root_dir + "/Log/pos_log.txt"; + fp = fopen(pos_log_dir.c_str(), "w"); + open_file(); + + /*** ROS subscribe initialization ***/ + rclcpp::Subscription::SharedPtr sub_pcl_pc_; + rclcpp::Subscription::SharedPtr sub_pcl_livox_; + if (p_pre->lidar_type == AVIA) { + sub_pcl_livox_ = nh->create_subscription( + lid_topic, rclcpp::SensorDataQoS(), + [](const livox_ros_driver2::msg::CustomMsg::SharedPtr msg) { livox_pcl_cbk(msg); }); + } else { + sub_pcl_pc_ = nh->create_subscription( + lid_topic, rclcpp::SensorDataQoS(), + [](const sensor_msgs::msg::PointCloud2::SharedPtr msg) { standard_pcl_cbk(msg); }); + } + + auto sub_imu = + nh->create_subscription(imu_topic, rclcpp::SensorDataQoS(), imu_cbk); + auto pubLaserCloudFullRes = + nh->create_publisher("/cloud_registered", 1000); + auto pubLaserCloudFullRes_body = + nh->create_publisher("/cloud_registered_body", 1000); + auto pubLaserCloudEffect = + nh->create_publisher("/cloud_effected", 1000); + auto pubLaserCloudMap = nh->create_publisher("/Laser_map", 1000); + auto pubOdomAftMapped = nh->create_publisher("/Odometry", 1000); + auto pubPath = nh->create_publisher("/path", 1000); + auto plane_pub = nh->create_publisher("/planner_normal", 1000); + auto tf_broadcaster = std::make_unique(nh); + auto tf_buffer = std::make_unique(nh->get_clock()); + auto transform_listener_ = std::make_shared(*tf_buffer); + //------------------------------------------------------------------------------------------------------ + signal(SIGINT, SigHandle); + rclcpp::Rate rate(500); + rclcpp::executors::SingleThreadedExecutor executor; + executor.add_node(nh); + while (rclcpp::ok()) { + if (flg_exit) break; + executor.spin_some(); // 处理当前可用的回调 + + if (sync_packages(Measures)) { + if (flg_reset) { + RCLCPP_WARN(logger, "reset when rosbag play back"); + p_imu->Reset(); + feats_undistort.reset(new PointCloudXYZI()); + if (use_imu_as_input) { + // state_in = kf_input.get_x(); + state_in = state_input(); + kf_input.change_P(P_init); + } else { + // state_out = kf_output.get_x(); + state_out = state_output(); + kf_output.change_P(P_init_output); + } + flg_first_scan = true; + is_first_frame = true; + flg_reset = false; + init_map = false; + + { + ivox_.reset(new IVoxType(ivox_options_)); + } + } + + if (flg_first_scan) { + first_lidar_time = Measures.lidar_beg_time; + flg_first_scan = false; + if (first_imu_time < 1) { + // first_imu_time = get_time_sec(imu_next.header.stamp); + first_imu_time = get_time_sec(imu_next.header.stamp); + printf("first imu time: %f\n", first_imu_time); + } + time_current = 0.0; + if (imu_en) { + // imu_next = *(imu_deque.front()); + kf_input.x_.gravity << VEC_FROM_ARRAY(gravity); + kf_output.x_.gravity << VEC_FROM_ARRAY(gravity); + // kf_output.x_.acc << VEC_FROM_ARRAY(gravity); + // kf_output.x_.acc *= -1; + + { + while (Measures.lidar_beg_time > + get_time_sec(imu_next.header.stamp)) // if it is needed for the new map? + { + imu_deque.pop_front(); + if (imu_deque.empty()) { + break; + } + imu_last = imu_next; + imu_next = *(imu_deque.front()); + // imu_deque.pop(); + } + } + } else { + kf_input.x_.gravity << VEC_FROM_ARRAY(gravity); // _init); + kf_output.x_.gravity << VEC_FROM_ARRAY(gravity); //_init); + kf_output.x_.acc << VEC_FROM_ARRAY(gravity); //_init); + kf_output.x_.acc *= -1; + p_imu->imu_need_init_ = false; + // p_imu->after_imu_init_ = true; + } + G_m_s2 = std::sqrt(gravity[0] * gravity[0] + gravity[1] * gravity[1] + gravity[2] * gravity[2]); + } + + double t0, t1, t2, t3, t4, t5, match_start, solve_start; + match_time = 0; + solve_time = 0; + propag_time = 0; + update_time = 0; + t0 = omp_get_wtime(); + + /*** downsample the feature points in a scan ***/ + t1 = omp_get_wtime(); + p_imu->Process(Measures, feats_undistort); + if (space_down_sample) { + downSizeFilterSurf.setInputCloud(feats_undistort); + downSizeFilterSurf.filter(*feats_down_body); + sort(feats_down_body->points.begin(), feats_down_body->points.end(), time_list); + } else { + feats_down_body = Measures.lidar; + sort(feats_down_body->points.begin(), feats_down_body->points.end(), time_list); + } + { + time_seq = time_compressing(feats_down_body); + feats_down_size = feats_down_body->points.size(); + } + + if (!p_imu->after_imu_init_) { + if (!p_imu->imu_need_init_) { + V3D tmp_gravity; + if (imu_en) { + tmp_gravity = - p_imu->mean_acc / p_imu->mean_acc.norm() * G_m_s2; + } else { + tmp_gravity << VEC_FROM_ARRAY(gravity_init); + p_imu->after_imu_init_ = true; + } + // V3D tmp_gravity << VEC_FROM_ARRAY(gravity_init); + M3D rot_init; + p_imu->Set_init(tmp_gravity, rot_init); + kf_input.x_.rot = rot_init; + kf_output.x_.rot = rot_init; + // kf_input.x_.rot; //.normalize(); + // kf_output.x_.rot; //.normalize(); + kf_output.x_.acc = - rot_init.transpose() * kf_output.x_.gravity; + } else { + continue; + } + } + /*** initialize the map ***/ + if (!init_map) { + feats_down_world->resize(feats_undistort->size()); + for (int i = 0; i < feats_undistort->size(); i++) { + { + pointBodyToWorld(&(feats_undistort->points[i]), &(feats_down_world->points[i])); + } + } + for (size_t i = 0; i < feats_down_world->size(); i++) { + init_feats_world->points.emplace_back(feats_down_world->points[i]); + } + if (init_feats_world->size() < init_map_size) { + init_map = false; + } else { + ivox_->AddPoints(init_feats_world->points); + publish_init_map(pubLaserCloudMap); //(pubLaserCloudFullRes); + + init_feats_world.reset(new PointCloudXYZI()); + init_map = true; + } + continue; + } + + /*** ICP and Kalman filter update ***/ + normvec->resize(feats_down_size); + feats_down_world->resize(feats_down_size); + + Nearest_Points.resize(feats_down_size); + + t2 = omp_get_wtime(); + + /*** iterated state estimation ***/ + crossmat_list.reserve(feats_down_size); + pbody_list.reserve(feats_down_size); + // pbody_ext_list.reserve(feats_down_size); + + for (size_t i = 0; i < feats_down_body->size(); i++) { + V3D point_this( + feats_down_body->points[i].x, feats_down_body->points[i].y, feats_down_body->points[i].z); + pbody_list[i] = point_this; + if (!extrinsic_est_en) + // { + // if (!use_imu_as_input) + // { + // point_this = kf_output.x_.offset_R_L_I * point_this + + // kf_output.x_.offset_T_L_I; + // } + // else + // { + // point_this = kf_input.x_.offset_R_L_I * point_this + + // kf_input.x_.offset_T_L_I; + // } + // } + // else + { + point_this = Lidar_R_wrt_IMU * point_this + Lidar_T_wrt_IMU; + M3D point_crossmat; + point_crossmat << SKEW_SYM_MATRX(point_this); + crossmat_list[i] = point_crossmat; + } + } + if (!use_imu_as_input) { + bool imu_upda_cov = false; + effct_feat_num = 0; + /**** point by point update ****/ + if (time_seq.size() > 0) { + double pcl_beg_time = Measures.lidar_beg_time; + idx = -1; + for (k = 0; k < time_seq.size(); k++) { + PointType & point_body = feats_down_body->points[idx + time_seq[k]]; + + time_current = point_body.curvature / 1000.0 + pcl_beg_time; + + if (is_first_frame) { + if (imu_en) { + while (time_current > get_time_sec(imu_next.header.stamp)) { + imu_deque.pop_front(); + if (imu_deque.empty()) break; + imu_last = imu_next; + imu_next = *(imu_deque.front()); + } + angvel_avr << imu_last.angular_velocity.x, imu_last.angular_velocity.y, + imu_last.angular_velocity.z; + acc_avr << imu_last.linear_acceleration.x, imu_last.linear_acceleration.y, + imu_last.linear_acceleration.z; + } + is_first_frame = false; + imu_upda_cov = true; + time_update_last = time_current; + time_predict_last_const = time_current; + } + if (imu_en && !imu_deque.empty()) { + bool last_imu = get_time_sec(imu_next.header.stamp) == + get_time_sec(imu_deque.front()->header.stamp); + while (get_time_sec(imu_next.header.stamp) < time_predict_last_const && + !imu_deque.empty()) { + if (!last_imu) { + imu_last = imu_next; + imu_next = *(imu_deque.front()); + break; + } else { + imu_deque.pop_front(); + if (imu_deque.empty()) break; + imu_last = imu_next; + imu_next = *(imu_deque.front()); + } + } + bool imu_comes = time_current > get_time_sec(imu_next.header.stamp); + while (imu_comes) { + imu_upda_cov = true; + angvel_avr << imu_next.angular_velocity.x, imu_next.angular_velocity.y, + imu_next.angular_velocity.z; + acc_avr << imu_next.linear_acceleration.x, imu_next.linear_acceleration.y, + imu_next.linear_acceleration.z; + + /*** covariance update ***/ + double dt = get_time_sec(imu_next.header.stamp) - time_predict_last_const; + kf_output.predict(dt, Q_output, input_in, true, false); + time_predict_last_const = get_time_sec(imu_next.header.stamp); // big problem + + { + double dt_cov = get_time_sec(imu_next.header.stamp) - time_update_last; + + if (dt_cov > 0.0) { + time_update_last = get_time_sec(imu_next.header.stamp); + double propag_imu_start = omp_get_wtime(); + + kf_output.predict(dt_cov, Q_output, input_in, false, true); + + propag_time += omp_get_wtime() - propag_imu_start; + double solve_imu_start = omp_get_wtime(); + kf_output.update_iterated_dyn_share_IMU(); + solve_time += omp_get_wtime() - solve_imu_start; + } + } + imu_deque.pop_front(); + if (imu_deque.empty()) break; + imu_last = imu_next; + imu_next = *(imu_deque.front()); + imu_comes = time_current > get_time_sec(imu_next.header.stamp); + } + } + if (flg_reset) { + break; + } + + double dt = time_current - time_predict_last_const; + double propag_state_start = omp_get_wtime(); + if (!prop_at_freq_of_imu) { + double dt_cov = time_current - time_update_last; + if (dt_cov > 0.0) { + kf_output.predict(dt_cov, Q_output, input_in, false, true); + time_update_last = time_current; + } + } + kf_output.predict(dt, Q_output, input_in, true, false); + propag_time += omp_get_wtime() - propag_state_start; + time_predict_last_const = time_current; + double t_update_start = omp_get_wtime(); + + if (feats_down_size < 1) { + RCLCPP_WARN(logger, "No point, skip this scan!\n"); + idx += time_seq[k]; + continue; + } + if (!kf_output.update_iterated_dyn_share_modified()) { + idx = idx + time_seq[k]; + continue; + } + solve_start = omp_get_wtime(); + + if (publish_odometry_without_downsample) { + /******* Publish odometry *******/ + + publish_odometry(pubOdomAftMapped, tf_broadcaster, tf_buffer, nh->get_logger()); + if (runtime_pos_log) { + euler_cur = SO3ToEuler(kf_output.x_.rot); + fout_out << setw(20) << Measures.lidar_beg_time - first_lidar_time << " " + << euler_cur.transpose() << " " << kf_output.x_.pos.transpose() << " " + << kf_output.x_.vel.transpose() << " " << kf_output.x_.omg.transpose() + << " " << kf_output.x_.acc.transpose() << " " + << kf_output.x_.gravity.transpose() << " " << kf_output.x_.bg.transpose() + << " " << kf_output.x_.ba.transpose() << " " + << feats_undistort->points.size() << endl; + } + } + + for (int j = 0; j < time_seq[k]; j++) { + PointType & point_body_j = feats_down_body->points[idx + j + 1]; + PointType & point_world_j = feats_down_world->points[idx + j + 1]; + pointBodyToWorld(&point_body_j, &point_world_j); + } + + solve_time += omp_get_wtime() - solve_start; + + update_time += omp_get_wtime() - t_update_start; + idx += time_seq[k]; + // cout << "pbp output effect feat num:" << effct_feat_num << endl; + } + } else { + if (!imu_deque.empty()) { + imu_last = imu_next; + imu_next = *(imu_deque.front()); + + while (get_time_sec(imu_next.header.stamp) > time_current && + ((get_time_sec(imu_next.header.stamp) < + Measures.lidar_beg_time + lidar_time_inte))) { // >= ? + if (is_first_frame) { + { + { + while (get_time_sec(imu_next.header.stamp) < + Measures.lidar_beg_time + lidar_time_inte) { + // meas.imu.emplace_back(imu_deque.front()); should add to + // initialization + imu_deque.pop_front(); + if (imu_deque.empty()) break; + imu_last = imu_next; + imu_next = *(imu_deque.front()); + } + } + break; + } + angvel_avr << imu_last.angular_velocity.x, imu_last.angular_velocity.y, + imu_last.angular_velocity.z; + + acc_avr << imu_last.linear_acceleration.x, imu_last.linear_acceleration.y, + imu_last.linear_acceleration.z; + + imu_upda_cov = true; + time_update_last = time_current; + time_predict_last_const = time_current; + + is_first_frame = false; + } + time_current = get_time_sec(imu_next.header.stamp); + + if (!is_first_frame) { + double dt = time_current - time_predict_last_const; + { + double dt_cov = time_current - time_update_last; + if (dt_cov > 0.0) { + kf_output.predict(dt_cov, Q_output, input_in, false, true); + time_update_last = time_current; + } + kf_output.predict(dt, Q_output, input_in, true, false); + } + + time_predict_last_const = time_current; + + angvel_avr << imu_next.angular_velocity.x, + imu_next.angular_velocity.y, imu_next.angular_velocity.z; + acc_avr << imu_next.linear_acceleration.x, + imu_next.linear_acceleration.y, + imu_next.linear_acceleration.z; + // acc_avr_norm = acc_avr * G_m_s2 / acc_norm; + kf_output.update_iterated_dyn_share_IMU(); + imu_deque.pop_front(); + if (imu_deque.empty()) break; + imu_last = imu_next; + imu_next = *(imu_deque.front()); + } else { + imu_deque.pop_front(); + if (imu_deque.empty()) break; + imu_last = imu_next; + imu_next = *(imu_deque.front()); + } + } + } + } + } else { + bool imu_prop_cov = false; + effct_feat_num = 0; + if (time_seq.size() > 0) { + double pcl_beg_time = Measures.lidar_beg_time; + idx = -1; + for (k = 0; k < time_seq.size(); k++) { + PointType & point_body = feats_down_body->points[idx + time_seq[k]]; + time_current = point_body.curvature / 1000.0 + pcl_beg_time; + if (is_first_frame) { + while (time_current > get_time_sec(imu_next.header.stamp)) { + imu_deque.pop_front(); + if (imu_deque.empty()) break; + imu_last = imu_next; + imu_next = *(imu_deque.front()); + } + imu_prop_cov = true; + + is_first_frame = false; + t_last = time_current; + time_update_last = time_current; + { + input_in.gyro << imu_last.angular_velocity.x, imu_last.angular_velocity.y, + imu_last.angular_velocity.z; + input_in.acc << imu_last.linear_acceleration.x, imu_last.linear_acceleration.y, + imu_last.linear_acceleration.z; + input_in.acc = input_in.acc * G_m_s2 / acc_norm; + } + } + + while (time_current > get_time_sec(imu_next.header.stamp)) // && !imu_deque.empty()) + { + imu_deque.pop_front(); + + input_in.gyro << imu_last.angular_velocity.x, imu_last.angular_velocity.y, + imu_last.angular_velocity.z; + input_in.acc << imu_last.linear_acceleration.x, imu_last.linear_acceleration.y, + imu_last.linear_acceleration.z; + input_in.acc = input_in.acc * G_m_s2 / acc_norm; + double dt = get_time_sec(imu_last.header.stamp) - t_last; + + double dt_cov = get_time_sec(imu_last.header.stamp) - time_update_last; + if (dt_cov > 0.0) { + kf_input.predict(dt_cov, Q_input, input_in, false, true); + time_update_last = get_time_sec(imu_last.header.stamp); // time_current; + } + kf_input.predict(dt, Q_input, input_in, true, false); + t_last = get_time_sec(imu_last.header.stamp); + imu_prop_cov = true; + + if (imu_deque.empty()) break; + imu_last = imu_next; + imu_next = *(imu_deque.front()); + // imu_upda_cov = true; + } + if (flg_reset) { + break; + } + double dt = time_current - t_last; + t_last = time_current; + double propag_start = omp_get_wtime(); + + if (!prop_at_freq_of_imu) { + double dt_cov = time_current - time_update_last; + if (dt_cov > 0.0) { + kf_input.predict(dt_cov, Q_input, input_in, false, true); + time_update_last = time_current; + } + } + kf_input.predict(dt, Q_input, input_in, true, false); + + propag_time += omp_get_wtime() - propag_start; + + double t_update_start = omp_get_wtime(); + + if (feats_down_size < 1) { + RCLCPP_WARN(logger, "No point, skip this scan!\n"); + + idx += time_seq[k]; + continue; + } + if (!kf_input.update_iterated_dyn_share_modified()) { + idx = idx + time_seq[k]; + continue; + } + + solve_start = omp_get_wtime(); + + if (publish_odometry_without_downsample) { + /******* Publish odometry *******/ + + publish_odometry(pubOdomAftMapped, tf_broadcaster, tf_buffer, nh->get_logger()); + if (runtime_pos_log) { + euler_cur = SO3ToEuler(kf_input.x_.rot); + fout_out << setw(20) << Measures.lidar_beg_time - first_lidar_time << " " + << euler_cur.transpose() << " " << kf_input.x_.pos.transpose() << " " + << kf_input.x_.vel.transpose() << " " << kf_input.x_.bg.transpose() << " " + << kf_input.x_.ba.transpose() << " " << kf_input.x_.gravity.transpose() + << " " << feats_undistort->points.size() << endl; + } + } + + for (int j = 0; j < time_seq[k]; j++) { + PointType & point_body_j = feats_down_body->points[idx + j + 1]; + PointType & point_world_j = feats_down_world->points[idx + j + 1]; + pointBodyToWorld(&point_body_j, &point_world_j); + } + solve_time += omp_get_wtime() - solve_start; + + update_time += omp_get_wtime() - t_update_start; + idx = idx + time_seq[k]; + } + } else { + if (!imu_deque.empty()) { + imu_last = imu_next; + imu_next = *(imu_deque.front()); + while (get_time_sec(imu_next.header.stamp) > time_current && + ((get_time_sec(imu_next.header.stamp) < + Measures.lidar_beg_time + lidar_time_inte))) { // >= ? + if (is_first_frame) { + { + { + while (get_time_sec(imu_next.header.stamp) < + Measures.lidar_beg_time + lidar_time_inte) { + imu_deque.pop_front(); + if (imu_deque.empty()) break; + imu_last = imu_next; + imu_next = *(imu_deque.front()); + } + } + + break; + } + imu_prop_cov = true; + + t_last = time_current; + time_update_last = time_current; + input_in.gyro << imu_last.angular_velocity.x, imu_last.angular_velocity.y, + imu_last.angular_velocity.z; + input_in.acc << imu_last.linear_acceleration.x, imu_last.linear_acceleration.y, + imu_last.linear_acceleration.z; + input_in.acc = input_in.acc * G_m_s2 / acc_norm; + + is_first_frame = false; + } + time_current = get_time_sec(imu_next.header.stamp); + + if (!is_first_frame) { + double dt = time_current - t_last; + + double dt_cov = time_current - time_update_last; + if (dt_cov > 0.0) { + // kf_input.predict(dt_cov, Q_input, input_in, false, true); + time_update_last = get_time_sec(imu_next.header.stamp); // time_current; + } + // kf_input.predict(dt, Q_input, input_in, true, false); + + t_last = get_time_sec(imu_next.header.stamp); + + input_in.gyro << imu_next.angular_velocity.x, imu_next.angular_velocity.y, + imu_next.angular_velocity.z; + input_in.acc << imu_next.linear_acceleration.x, imu_next.linear_acceleration.y, + imu_next.linear_acceleration.z; + input_in.acc = input_in.acc * G_m_s2 / acc_norm; + imu_deque.pop_front(); + if (imu_deque.empty()) break; + imu_last = imu_next; + imu_next = *(imu_deque.front()); + } else { + imu_deque.pop_front(); + if (imu_deque.empty()) break; + imu_last = imu_next; + imu_next = *(imu_deque.front()); + } + } + } + } + } + // M3D rot_cur_lidar; + // { + // rot_cur_lidar = state.rot_end; + // } + // euler_cur = RotMtoEuler(rot_cur_lidar); + // geoQuat = tf::createQuaternionMsgFromRollPitchYaw + // (euler_cur(0), euler_cur(1), euler_cur(2)); + /******* Publish odometry downsample *******/ + if (!publish_odometry_without_downsample) { + publish_odometry(pubOdomAftMapped, tf_broadcaster, tf_buffer, nh->get_logger()); + } + + /*** add the feature points to map ***/ + t3 = omp_get_wtime(); + + if (feats_down_size > 4) { + MapIncremental(); + } + + t5 = omp_get_wtime(); + /******* Publish points *******/ + if (path_en) publish_path(pubPath); + if (scan_pub_en || pcd_save_en) publish_frame_world(pubLaserCloudFullRes); + if (scan_pub_en && scan_body_pub_en) publish_frame_body(pubLaserCloudFullRes_body); + + /*** Debug variables Logging ***/ + if (runtime_pos_log) { + frame_num++; + aver_time_consu = aver_time_consu * (frame_num - 1) / frame_num + (t5 - t0) / frame_num; + { + aver_time_icp = aver_time_icp * (frame_num - 1) / frame_num + update_time / frame_num; + } + aver_time_match = aver_time_match * (frame_num - 1) / frame_num + (match_time) / frame_num; + aver_time_solve = aver_time_solve * (frame_num - 1) / frame_num + solve_time / frame_num; + aver_time_propag = aver_time_propag * (frame_num - 1) / frame_num + propag_time / frame_num; + T1[time_log_counter] = Measures.lidar_beg_time; + s_plot[time_log_counter] = t5 - t0; + s_plot2[time_log_counter] = feats_undistort->points.size(); + s_plot3[time_log_counter] = aver_time_consu; + time_log_counter++; + printf( + "[ mapping ]: time: IMU + Map + Input Downsample: %0.6f ave " + "match: %0.6f ave solve: %0.6f ave ICP: %0.6f map incre: " + "%0.6f ave total: %0.6f icp: %0.6f propogate: %0.6f \n", + t1 - t0, aver_time_match, aver_time_solve, t3 - t1, t5 - t3, aver_time_consu, + aver_time_icp, aver_time_propag); + if (!publish_odometry_without_downsample) { + if (!use_imu_as_input) { + fout_out << setw(20) << Measures.lidar_beg_time - first_lidar_time << " " + << euler_cur.transpose() << " " << kf_output.x_.pos.transpose() << " " + << kf_output.x_.vel.transpose() << " " << kf_output.x_.omg.transpose() << " " + << kf_output.x_.acc.transpose() << " " << kf_output.x_.gravity.transpose() + << " " << kf_output.x_.bg.transpose() << " " << kf_output.x_.ba.transpose() + << " " << feats_undistort->points.size() << endl; + } else { + fout_out << setw(20) << Measures.lidar_beg_time - first_lidar_time << " " + << euler_cur.transpose() << " " << kf_input.x_.pos.transpose() << " " + << kf_input.x_.vel.transpose() << " " << kf_input.x_.bg.transpose() << " " + << kf_input.x_.ba.transpose() << " " << kf_input.x_.gravity.transpose() << " " + << feats_undistort->points.size() << endl; + } + } + dump_lio_state_to_log(fp); + } + } + rate.sleep(); + } + //--------------------------save map----------------------------------- + /* 1. make sure you have enough memories + 2. noted that pcd save will influence the real-time performences **/ + if (pcl_wait_save->size() > 0 && pcd_save_en) { + string file_name = string("scans.pcd"); + string all_points_dir(string(string(ROOT_DIR) + "PCD/") + file_name); + pcl::PCDWriter pcd_writer; + pcd_writer.writeBinary(all_points_dir, *pcl_wait_save); + } + fout_out.close(); + fout_imu_pbp.close(); + return 0; +} diff --git a/src/rm_nav/rm_localization/point_lio/src/li_initialization.cpp b/src/rm_nav/rm_localization/point_lio/src/li_initialization.cpp new file mode 100755 index 0000000..e08ed1c --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/src/li_initialization.cpp @@ -0,0 +1,348 @@ +#include "li_initialization.h" +bool data_accum_finished = false, data_accum_start = false, online_calib_finish = false, refine_print = false; +int frame_num_init = 0; +double time_lag_IMU_wtr_lidar = 0.0, move_start_time = 0.0, online_calib_starts_time = 0.0; //, mean_acc_norm = 9.81; +double imu_first_time = 0.0; +bool lose_lid = false; +double timediff_imu_wrt_lidar = 0.0; +bool timediff_set_flg = false; +V3D gravity_lio = V3D::Zero(); +mutex mtx_buffer; +sensor_msgs::msg::Imu imu_last, imu_next; +// sensor_msgs::msg::Imu::ConstSharedPtr imu_last_ptr; +PointCloudXYZI::Ptr ptr_con(new PointCloudXYZI()); +double T1[MAXN], s_plot[MAXN], s_plot2[MAXN], s_plot3[MAXN], s_plot11[MAXN]; + +condition_variable sig_buffer; +int scan_count = 0; +int frame_ct = 0, wait_num = 0; +std::mutex m_time; +bool lidar_pushed = false, imu_pushed = false; +std::deque lidar_buffer; +std::deque time_buffer; +std::deque imu_deque; + +void standard_pcl_cbk(const sensor_msgs::msg::PointCloud2::SharedPtr &msg) +{ + // mtx_buffer.lock(); + scan_count ++; + double preprocess_start_time = omp_get_wtime(); + if (rclcpp::Time(msg->header.stamp).seconds() < last_timestamp_lidar) + { + RCLCPP_ERROR(rclcpp::get_logger("li_initialization"), "lidar loop back, clear buffer"); + // lidar_buffer.shrink_to_fit(); + + // mtx_buffer.unlock(); + // sig_buffer.notify_all(); + return; + } + + last_timestamp_lidar = rclcpp::Time(msg->header.stamp).seconds(); + // printf("check lidar time %f\n", last_timestamp_lidar); + // if (abs(last_timestamp_imu - last_timestamp_lidar) > 1.0 && !timediff_set_flg && !imu_deque.empty()) { + // timediff_set_flg = true; + // timediff_imu_wrt_lidar = last_timestamp_imu - last_timestamp_lidar; + // printf("Self sync IMU and LiDAR, HARD time lag is %.10lf \n \n", timediff_imu_wrt_lidar); + // } + + if ((lidar_type == VELO16 || lidar_type == OUST64 || lidar_type == HESAIxt32) && cut_frame_init) { + deque ptr; + deque timestamp_lidar; + p_pre->process_cut_frame_pcl2(msg, ptr, timestamp_lidar, cut_frame_num, scan_count); + while (!ptr.empty() && !timestamp_lidar.empty()) { + lidar_buffer.push_back(ptr.front()); + ptr.pop_front(); + time_buffer.push_back(timestamp_lidar.front() / double(1000));//unit:s + timestamp_lidar.pop_front(); + } + } + else + { + PointCloudXYZI::Ptr ptr(new PointCloudXYZI(20000,1)); + p_pre->process(msg, ptr); + if (con_frame) + { + if (frame_ct == 0) + { + time_con = last_timestamp_lidar; //rclcpp::Time(msg->header.stamp).seconds(); + } + if (frame_ct < 10) + { + for (int i = 0; i < ptr->size(); i++) + { + ptr->points[i].curvature += (last_timestamp_lidar - time_con) * 1000; + ptr_con->push_back(ptr->points[i]); + } + frame_ct ++; + } + else + { + PointCloudXYZI::Ptr ptr_con_i(new PointCloudXYZI(10000,1)); + // cout << "ptr div num:" << ptr_div->size() << endl; + *ptr_con_i = *ptr_con; + lidar_buffer.push_back(ptr_con_i); + double time_con_i = time_con; + time_buffer.push_back(time_con_i); + ptr_con->clear(); + frame_ct = 0; + } + } + else + { + lidar_buffer.emplace_back(ptr); + time_buffer.emplace_back(rclcpp::Time(msg->header.stamp).seconds()); + } + } + s_plot11[scan_count] = omp_get_wtime() - preprocess_start_time; + // mtx_buffer.unlock(); + // sig_buffer.notify_all(); +} + +void livox_pcl_cbk(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg) +{ + // mtx_buffer.lock(); + double preprocess_start_time = omp_get_wtime(); + scan_count ++; + if (rclcpp::Time(msg->header.stamp).seconds() < last_timestamp_lidar) + { + RCLCPP_ERROR(rclcpp::get_logger("li_initialization"), "lidar loop back, clear buffer"); + + // mtx_buffer.unlock(); + // sig_buffer.notify_all(); + return; + // lidar_buffer.shrink_to_fit(); + } + + last_timestamp_lidar = rclcpp::Time(msg->header.stamp).seconds(); + // if (abs(last_timestamp_imu - last_timestamp_lidar) > 1.0 && !timediff_set_flg && !imu_deque.empty()) { + // timediff_set_flg = true; + // timediff_imu_wrt_lidar = last_timestamp_imu - last_timestamp_lidar; + // printf("Self sync IMU and LiDAR, HARD time lag is %.10lf \n \n", timediff_imu_wrt_lidar); + // } + + if (cut_frame_init) { + deque ptr; + deque timestamp_lidar; + p_pre->process_cut_frame_livox(msg, ptr, timestamp_lidar, cut_frame_num, scan_count); + + while (!ptr.empty() && !timestamp_lidar.empty()) { + lidar_buffer.push_back(ptr.front()); + ptr.pop_front(); + time_buffer.push_back(timestamp_lidar.front() / double(1000));//unit:s + timestamp_lidar.pop_front(); + } + } + else + { + PointCloudXYZI::Ptr ptr(new PointCloudXYZI(10000,1)); + p_pre->process(msg, ptr); + if (con_frame) + { + if (frame_ct == 0) + { + time_con = last_timestamp_lidar; //rclcpp::Time(msg->header.stamp).seconds(); + } + if (frame_ct < 10) + { + for (int i = 0; i < ptr->size(); i++) + { + ptr->points[i].curvature += (last_timestamp_lidar - time_con) * 1000; + ptr_con->push_back(ptr->points[i]); + } + frame_ct ++; + } + else + { + PointCloudXYZI::Ptr ptr_con_i(new PointCloudXYZI(10000,1)); + // cout << "ptr div num:" << ptr_div->size() << endl; + *ptr_con_i = *ptr_con; + double time_con_i = time_con; + lidar_buffer.push_back(ptr_con_i); + time_buffer.push_back(time_con_i); + ptr_con->clear(); + frame_ct = 0; + } + } + else + { + lidar_buffer.emplace_back(ptr); + time_buffer.emplace_back(rclcpp::Time(msg->header.stamp).seconds()); + } + } + s_plot11[scan_count] = omp_get_wtime() - preprocess_start_time; + // mtx_buffer.unlock(); + // sig_buffer.notify_all(); +} + +void imu_cbk(const sensor_msgs::msg::Imu::ConstSharedPtr &msg_in) +{ + // mtx_buffer.lock(); + + // publish_count ++; + sensor_msgs::msg::Imu::SharedPtr msg(new sensor_msgs::msg::Imu(*msg_in)); + + msg->header.stamp = get_ros_time(get_time_sec(msg_in->header.stamp) - timediff_imu_wrt_lidar - time_lag_IMU_wtr_lidar); + + double timestamp = get_time_sec(msg->header.stamp); + // printf("time_diff%f, %f, %f\n", last_timestamp_imu - timestamp, last_timestamp_imu, timestamp); + + if (timestamp < last_timestamp_imu) + { + RCLCPP_ERROR(rclcpp::get_logger("li_initialization"), "imu loop back, clear deque"); + // imu_deque.shrink_to_fit(); + // cout << "check time:" << timestamp << ";" << last_timestamp_imu << endl; + // printf("time_diff%f, %f, %f\n", last_timestamp_imu - timestamp, last_timestamp_imu, timestamp); + + // mtx_buffer.unlock(); + // sig_buffer.notify_all(); + return; + } + imu_deque.emplace_back(msg); + last_timestamp_imu = timestamp; + // mtx_buffer.unlock(); + // sig_buffer.notify_all(); +} + +bool sync_packages(MeasureGroup &meas) +{ + { + if (!imu_en) + { + if (!lidar_buffer.empty()) + { + if (!lidar_pushed) + { + meas.lidar = lidar_buffer.front(); + meas.lidar_beg_time = time_buffer.front(); + lose_lid = false; + if(meas.lidar->points.size() < 1) + { + cout << "lose lidar" << std::endl; + // return false; + lose_lid = true; + } + else + { + double end_time = meas.lidar->points.back().curvature; + for (auto pt: meas.lidar->points) + { + if (pt.curvature > end_time) + { + end_time = pt.curvature; + } + } + lidar_end_time = meas.lidar_beg_time + end_time / double(1000); + meas.lidar_last_time = lidar_end_time; + } + lidar_pushed = true; + } + + time_buffer.pop_front(); + lidar_buffer.pop_front(); + lidar_pushed = false; + if (!lose_lid) + { + return true; + } + else + { + return false; + } + } + return false; + } + + if (lidar_buffer.empty() || imu_deque.empty()) + { + return false; + } + /*** push a lidar scan ***/ + if(!lidar_pushed) + { + lose_lid = false; + meas.lidar = lidar_buffer.front(); + meas.lidar_beg_time = time_buffer.front(); + if(meas.lidar->points.size() < 1) + { + cout << "lose lidar" << endl; + lose_lid = true; + // lidar_buffer.pop_front(); + // time_buffer.pop_front(); + // return false; + } + else + { + double end_time = meas.lidar->points.back().curvature; + for (auto pt: meas.lidar->points) + { + if (pt.curvature > end_time) + { + end_time = pt.curvature; + } + } + lidar_end_time = meas.lidar_beg_time + end_time / double(1000); + // cout << "check time lidar:" << end_time << endl; + meas.lidar_last_time = lidar_end_time; + } + lidar_pushed = true; + } + + if (!lose_lid && (last_timestamp_imu < lidar_end_time)) + { + return false; + } + if (lose_lid && last_timestamp_imu < meas.lidar_beg_time + lidar_time_inte) + { + return false; + } + + if (!lose_lid && !imu_pushed) + { + /*** push imu data, and pop from imu buffer ***/ + if (p_imu->imu_need_init_) + { + double imu_time = get_time_sec(imu_deque.front()->header.stamp); + imu_next = *(imu_deque.front()); + meas.imu.shrink_to_fit(); + while (imu_time < lidar_end_time) + { + meas.imu.emplace_back(imu_deque.front()); + imu_last = imu_next; + imu_deque.pop_front(); + if(imu_deque.empty()) break; + imu_time = get_time_sec(imu_deque.front()->header.stamp); // can be changed + imu_next = *(imu_deque.front()); + } + } + imu_pushed = true; + } + + if (lose_lid && !imu_pushed) + { + /*** push imu data, and pop from imu buffer ***/ + if (p_imu->imu_need_init_) + { + double imu_time = get_time_sec(imu_deque.front()->header.stamp); + meas.imu.shrink_to_fit(); + + imu_next = *(imu_deque.front()); + while (imu_time < meas.lidar_beg_time + lidar_time_inte) + { + meas.imu.emplace_back(imu_deque.front()); + imu_last = imu_next; + imu_deque.pop_front(); + if(imu_deque.empty()) break; + imu_time = get_time_sec(imu_deque.front()->header.stamp); // can be changed + imu_next = *(imu_deque.front()); + } + } + imu_pushed = true; + } + + lidar_buffer.pop_front(); + time_buffer.pop_front(); + lidar_pushed = false; + imu_pushed = false; + return true; + } +} diff --git a/src/rm_nav/rm_localization/point_lio/src/li_initialization.h b/src/rm_nav/rm_localization/point_lio/src/li_initialization.h new file mode 100755 index 0000000..bd096ce --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/src/li_initialization.h @@ -0,0 +1,36 @@ +#pragma once + +#include +#include "Estimator.h" +#define MAXN (720000) + +extern bool data_accum_finished, data_accum_start, online_calib_finish, refine_print; +extern int frame_num_init; +extern double time_lag_IMU_wtr_lidar, move_start_time, online_calib_starts_time; //, mean_acc_norm = 9.81; + +extern double timediff_imu_wrt_lidar; +extern bool timediff_set_flg; +extern V3D gravity_lio; +extern mutex mtx_buffer; +extern condition_variable sig_buffer; +extern int scan_count; +extern int frame_ct, wait_num; +extern std::deque lidar_buffer; +extern std::deque time_buffer; +extern std::deque imu_deque; +extern std::mutex m_time; +extern bool lidar_pushed, imu_pushed; +extern double imu_first_time; +extern bool lose_lid; +extern sensor_msgs::msg::Imu imu_last, imu_next; +extern PointCloudXYZI::Ptr ptr_con; +extern double T1[MAXN], s_plot[MAXN], s_plot2[MAXN], s_plot3[MAXN], s_plot11[MAXN]; + +// extern sensor_msgs::msg::Imu::ConstSharedPtr imu_last_ptr; + +void standard_pcl_cbk(const sensor_msgs::msg::PointCloud2::SharedPtr &msg); +void livox_pcl_cbk(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg); +void imu_cbk(const sensor_msgs::msg::Imu::ConstSharedPtr &msg_in); +bool sync_packages(MeasureGroup &meas); + +// #endif \ No newline at end of file diff --git a/src/rm_nav/rm_localization/point_lio/src/parameters.cpp b/src/rm_nav/rm_localization/point_lio/src/parameters.cpp new file mode 100755 index 0000000..da4330d --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/src/parameters.cpp @@ -0,0 +1,225 @@ +#include "parameters.h" + +bool is_first_frame = true; +double lidar_end_time = 0.0, first_lidar_time = 0.0, time_con = 0.0; +double last_timestamp_lidar = -1.0, last_timestamp_imu = -1.0; +int pcd_index = 0; +IVoxType::Options ivox_options_; +int ivox_nearby_type = 6; + +std::vector extrinT(3, 0.0); +std::vector extrinR(9, 0.0); +state_input state_in; +state_output state_out; +std::string lid_topic, imu_topic; +bool prop_at_freq_of_imu = true, check_satu = true, con_frame = false, cut_frame = false; +bool use_imu_as_input = false, space_down_sample = true, publish_odometry_without_downsample = false; +int init_map_size = 10, con_frame_num = 1; +double match_s = 81, satu_acc, satu_gyro, cut_frame_time_interval = 0.1; +float plane_thr = 0.1f; +double filter_size_surf_min = 0.5, filter_size_map_min = 0.5, fov_deg = 180; +// double cube_len = 2000; +float DET_RANGE = 450; +bool imu_en = true; +double imu_time_inte = 0.005; +double laser_point_cov = 0.01, acc_norm; +double vel_cov, acc_cov_input, gyr_cov_input; +double gyr_cov_output, acc_cov_output, b_gyr_cov, b_acc_cov; +double imu_meas_acc_cov, imu_meas_omg_cov; +int lidar_type, pcd_save_interval; +std::vector gravity_init, gravity; +bool runtime_pos_log, pcd_save_en, path_en, extrinsic_est_en = true; +bool scan_pub_en, scan_body_pub_en; +shared_ptr p_pre; +shared_ptr p_imu; +double time_update_last = 0.0, time_current = 0.0, time_predict_last_const = 0.0, t_last = 0.0; +double time_diff_lidar_to_imu = 0.0; + +double lidar_time_inte = 0.1, first_imu_time = 0.0; +int cut_frame_num = 1, orig_odom_freq = 10; +double online_refine_time = 20.0; //unit: s +bool cut_frame_init = true; + +MeasureGroup Measures; + +ofstream fout_out, fout_imu_pbp, fout_rtk; + +void readParameters(shared_ptr &nh) +{ + p_pre.reset(new Preprocess()); + p_imu.reset(new ImuProcess()); + + nh->declare_parameter("prop_at_freq_of_imu", true); + nh->declare_parameter("use_imu_as_input", true); + nh->declare_parameter("check_satu", true); + nh->declare_parameter("init_map_size", 100); + nh->declare_parameter("space_down_sample", true); + nh->declare_parameter("mapping.satu_acc", 3.0); + nh->declare_parameter("mapping.satu_gyro", 35.0); + nh->declare_parameter("mapping.acc_norm", 1.0); + nh->declare_parameter("mapping.plane_thr", 0.05f); + nh->declare_parameter("point_filter_num", 2); + nh->declare_parameter("common.lid_topic", "/livox/lidar"); + nh->declare_parameter("common.imu_topic", "/livox/imu"); + nh->declare_parameter("common.con_frame", false); + nh->declare_parameter("common.con_frame_num", 1); + nh->declare_parameter("common.cut_frame", false); + nh->declare_parameter("common.cut_frame_time_interval", 0.1); + nh->declare_parameter("common.time_diff_lidar_to_imu", 0.0); + nh->declare_parameter("filter_size_surf", 0.5); + nh->declare_parameter("filter_size_map", 0.5); + // nh.param("cube_side_length",cube_len,2000); + nh->declare_parameter("mapping.det_range", 300.f); + nh->declare_parameter("mapping.fov_degree", 180); + nh->declare_parameter("mapping.imu_en", true); + nh->declare_parameter("mapping.extrinsic_est_en", true); + nh->declare_parameter("mapping.imu_time_inte", 0.005); + nh->declare_parameter("mapping.lidar_meas_cov", 0.1); + nh->declare_parameter("mapping.acc_cov_input", 0.1); + nh->declare_parameter("mapping.vel_cov", 20); + nh->declare_parameter("mapping.gyr_cov_input", 0.1); + nh->declare_parameter("mapping.gyr_cov_output", 0.1); + nh->declare_parameter("mapping.acc_cov_output", 0.1); + nh->declare_parameter("mapping.b_gyr_cov", 0.0001); + nh->declare_parameter("mapping.b_acc_cov", 0.0001); + nh->declare_parameter("mapping.imu_meas_acc_cov", 0.1); + nh->declare_parameter("mapping.imu_meas_omg_cov", 0.1); + nh->declare_parameter("preprocess.blind", 1.0); + nh->declare_parameter("preprocess.lidar_type", 1); + nh->declare_parameter("preprocess.scan_line", 16); + nh->declare_parameter("preprocess.scan_rate", 10); + nh->declare_parameter("preprocess.timestamp_unit", 1); + nh->declare_parameter("mapping.match_s", 81); + nh->declare_parameter>("mapping.gravity", {0, 0, -9.810}); + nh->declare_parameter>("mapping.gravity_init", {0, 0, -9.810}); + nh->declare_parameter>("mapping.extrinsic_T", {0, 0, 0}); + nh->declare_parameter>("mapping.extrinsic_R", {1, 0, 0, 0, 1, 0, 0, 0, 1}); + nh->declare_parameter("odometry.publish_odometry_without_downsample", false); + nh->declare_parameter("publish.path_en", true); + nh->declare_parameter("publish.scan_publish_en", true); + nh->declare_parameter("publish.scan_bodyframe_pub_en", true); + nh->declare_parameter("runtime_pos_log_enable", false); + nh->declare_parameter("pcd_save.pcd_save_en", false); + nh->declare_parameter("pcd_save.interval", -1); + nh->declare_parameter("mapping.lidar_time_inte", 0.1); + nh->declare_parameter("mapping.ivox_grid_resolution", 0.2); + nh->declare_parameter("ivox_nearby_type", 18); + + nh->get_parameter("prop_at_freq_of_imu", prop_at_freq_of_imu); + nh->get_parameter("use_imu_as_input", use_imu_as_input); + nh->get_parameter("check_satu", check_satu); + nh->get_parameter("init_map_size", init_map_size); + nh->get_parameter("space_down_sample", space_down_sample); + nh->get_parameter("mapping.satu_acc", satu_acc); + nh->get_parameter("mapping.satu_gyro", satu_gyro); + nh->get_parameter("mapping.acc_norm", acc_norm); + nh->get_parameter("mapping.plane_thr", plane_thr); + nh->get_parameter("point_filter_num", p_pre->point_filter_num); + nh->get_parameter("common.lid_topic", lid_topic); + nh->get_parameter("common.imu_topic", imu_topic); + nh->get_parameter("common.con_frame", con_frame); + nh->get_parameter("common.con_frame_num", con_frame_num); + nh->get_parameter("common.cut_frame", cut_frame); + nh->get_parameter("common.cut_frame_time_interval", cut_frame_time_interval); + nh->get_parameter("common.time_diff_lidar_to_imu", time_diff_lidar_to_imu); + nh->get_parameter("filter_size_surf", filter_size_surf_min); + nh->get_parameter("filter_size_map", filter_size_map_min); + nh->get_parameter("mapping.det_range", DET_RANGE); + nh->get_parameter("mapping.fov_degree", fov_deg); + nh->get_parameter("mapping.imu_en", imu_en); + nh->get_parameter("mapping.extrinsic_est_en", extrinsic_est_en); + nh->get_parameter("mapping.imu_time_inte", imu_time_inte); + nh->get_parameter("mapping.lidar_meas_cov", laser_point_cov); + nh->get_parameter("mapping.acc_cov_input", acc_cov_input); + nh->get_parameter("mapping.vel_cov", vel_cov); + nh->get_parameter("mapping.gyr_cov_input", gyr_cov_input); + nh->get_parameter("mapping.gyr_cov_output", gyr_cov_output); + nh->get_parameter("mapping.acc_cov_output", acc_cov_output); + nh->get_parameter("mapping.b_gyr_cov", b_gyr_cov); + nh->get_parameter("mapping.b_acc_cov", b_acc_cov); + nh->get_parameter("mapping.imu_meas_acc_cov", imu_meas_acc_cov); + nh->get_parameter("mapping.imu_meas_omg_cov", imu_meas_omg_cov); + nh->get_parameter("preprocess.blind", p_pre->blind); + nh->get_parameter("preprocess.lidar_type", lidar_type); + nh->get_parameter("preprocess.scan_line", p_pre->N_SCANS); + nh->get_parameter("preprocess.scan_rate", p_pre->SCAN_RATE); + nh->get_parameter("preprocess.timestamp_unit", p_pre->time_unit); + nh->get_parameter("mapping.match_s", match_s); + nh->get_parameter("mapping.gravity", gravity); + nh->get_parameter("mapping.gravity_init", gravity_init); + nh->get_parameter("mapping.extrinsic_T", extrinT); + nh->get_parameter("mapping.extrinsic_R", extrinR); + nh->get_parameter("odometry.publish_odometry_without_downsample", publish_odometry_without_downsample); + nh->get_parameter("publish.path_en", path_en); + nh->get_parameter("publish.scan_publish_en", scan_pub_en); + nh->get_parameter("publish.scan_bodyframe_pub_en", scan_body_pub_en); + nh->get_parameter("runtime_pos_log_enable", runtime_pos_log); + nh->get_parameter("pcd_save.pcd_save_en", pcd_save_en); + nh->get_parameter("pcd_save.interval", pcd_save_interval); + nh->get_parameter("mapping.lidar_time_inte", lidar_time_inte); + nh->get_parameter("mapping.lidar_meas_cov", laser_point_cov); + nh->get_parameter("mapping.ivox_grid_resolution", ivox_options_.resolution_); + nh->get_parameter("ivox_nearby_type", ivox_nearby_type); + + if (ivox_nearby_type == 0) { + ivox_options_.nearby_type_ = IVoxType::NearbyType::CENTER; + } else if (ivox_nearby_type == 6) { + ivox_options_.nearby_type_ = IVoxType::NearbyType::NEARBY6; + } else if (ivox_nearby_type == 18) { + ivox_options_.nearby_type_ = IVoxType::NearbyType::NEARBY18; + } else if (ivox_nearby_type == 26) { + ivox_options_.nearby_type_ = IVoxType::NearbyType::NEARBY26; + } else { + // LOG(WARNING) << "unknown ivox_nearby_type, use NEARBY18"; + ivox_options_.nearby_type_ = IVoxType::NearbyType::NEARBY18; + } + p_imu->gravity_ << VEC_FROM_ARRAY(gravity); +} + +Eigen::Matrix SO3ToEuler(const SO3 &rot) +{ + double sy = sqrt(rot(0,0)*rot(0,0) + rot(1,0)*rot(1,0)); + bool singular = sy < 1e-6; + double x, y, z; + if(!singular) + { + x = atan2(rot(2, 1), rot(2, 2)); + y = atan2(-rot(2, 0), sy); + z = atan2(rot(1, 0), rot(0, 0)); + } + else + { + x = atan2(-rot(1, 2), rot(1, 1)); + y = atan2(-rot(2, 0), sy); + z = 0; + } + Eigen::Matrix ang(x, y, z); + return ang; +} + +void open_file() +{ + + fout_out.open(DEBUG_FILE_DIR("mat_out.txt"),ios::out); + fout_imu_pbp.open(DEBUG_FILE_DIR("imu_pbp.txt"),ios::out); + if (fout_out && fout_imu_pbp) + cout << "~~~~"< & P_init) +{ + P_init = MD(24, 24)::Identity() * 0.1; + P_init.block<3, 3>(21, 21) = MD(3,3)::Identity() * 0.0001; + P_init.block<6, 6>(15, 15) = MD(6,6)::Identity() * 0.001; +} + +void reset_cov_output(Eigen::Matrix & P_init_output) +{ + P_init_output = MD(30, 30)::Identity() * 0.01; + P_init_output.block<3, 3>(21, 21) = MD(3,3)::Identity() * 0.0001; + // P_init_output.block<6, 6>(6, 6) = MD(6,6)::Identity() * 0.0001; + P_init_output.block<6, 6>(24, 24) = MD(6,6)::Identity() * 0.001; +} \ No newline at end of file diff --git a/src/rm_nav/rm_localization/point_lio/src/parameters.h b/src/rm_nav/rm_localization/point_lio/src/parameters.h new file mode 100755 index 0000000..8b00e27 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/src/parameters.h @@ -0,0 +1,83 @@ +// #ifndef PARAM_H +// #define PARAM_H +#pragma once +#include +#include +#include +#include +#include "preprocess.h" +#include "IMU_Processing.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +// #define IVOX_NODE_TYPE_PHC + +#ifdef IVOX_NODE_TYPE_PHC + using IVoxType = faster_lio::IVox<3, faster_lio::IVoxNodeType::PHC, PointType>; +#else + using IVoxType = faster_lio::IVox<3, faster_lio::IVoxNodeType::DEFAULT, PointType>; +#endif + +extern bool is_first_frame; +extern double lidar_end_time, first_lidar_time, time_con; +extern double last_timestamp_lidar, last_timestamp_imu; +extern int pcd_index; +extern IVoxType::Options ivox_options_; +extern int ivox_nearby_type; +extern state_input state_in; +extern state_output state_out; +extern std::string lid_topic, imu_topic; +extern bool prop_at_freq_of_imu, check_satu, con_frame, cut_frame; +extern bool use_imu_as_input, space_down_sample; +extern bool extrinsic_est_en, publish_odometry_without_downsample; +extern int init_map_size, con_frame_num; +extern double match_s, satu_acc, satu_gyro, cut_frame_time_interval; +extern float plane_thr; +extern double filter_size_surf_min, filter_size_map_min, fov_deg; +// extern double cube_len; +extern float DET_RANGE; +extern bool imu_en; +extern double imu_time_inte; +extern double laser_point_cov, acc_norm; +extern double acc_cov_input, gyr_cov_input, vel_cov; +extern double gyr_cov_output, acc_cov_output, b_gyr_cov, b_acc_cov; +extern double imu_meas_acc_cov, imu_meas_omg_cov; +extern int lidar_type, pcd_save_interval; +extern std::vector gravity_init, gravity; +extern bool runtime_pos_log, pcd_save_en, path_en; +extern bool scan_pub_en, scan_body_pub_en; +extern shared_ptr p_pre; +extern shared_ptr p_imu; +extern bool is_first_frame; + +extern std::vector extrinT; +extern std::vector extrinR; +extern double time_diff_lidar_to_imu; +extern double lidar_time_inte, first_imu_time; +extern int cut_frame_num, orig_odom_freq; +extern double online_refine_time; //unit: s +extern bool cut_frame_init; +extern double time_update_last, time_current, time_predict_last_const, t_last; + +extern MeasureGroup Measures; + +extern ofstream fout_out, fout_imu_pbp, fout_rtk; +void readParameters(shared_ptr &nh); +void open_file(); +Eigen::Matrix SO3ToEuler(const SO3 &orient); +void reset_cov(Eigen::Matrix & P_init); +void reset_cov_output(Eigen::Matrix & P_init_output); \ No newline at end of file diff --git a/src/rm_nav/rm_localization/point_lio/src/preprocess.cpp b/src/rm_nav/rm_localization/point_lio/src/preprocess.cpp new file mode 100755 index 0000000..9b814d9 --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/src/preprocess.cpp @@ -0,0 +1,1027 @@ +#include "preprocess.h" +#include + +#define RETURN0 0x00 +#define RETURN0AND1 0x10 + +const bool time_list_cut_frame(PointType &x, PointType &y) { + return (x.curvature < y.curvature); +} + +Preprocess::Preprocess() + :lidar_type(AVIA), blind(0.01), point_filter_num(1) +{ + inf_bound = 10; + N_SCANS = 6; + SCAN_RATE = 10; + group_size = 8; + disA = 0.01; + disA = 0.1; // B? + p2l_ratio = 225; + limit_maxmid =6.25; + limit_midmin =6.25; + limit_maxmin = 3.24; + jump_up_limit = 170.0; + jump_down_limit = 8.0; + cos160 = 160.0; + edgea = 2; + edgeb = 0.1; + smallp_intersect = 172.5; + smallp_ratio = 1.2; + given_offset_time = false; + + jump_up_limit = cos(jump_up_limit/180*M_PI); + jump_down_limit = cos(jump_down_limit/180*M_PI); + cos160 = cos(cos160/180*M_PI); + smallp_intersect = cos(smallp_intersect/180*M_PI); +} + +Preprocess::~Preprocess() {} + +void Preprocess::set(bool feat_en, int lid_type, double bld, int pfilt_num) +{ + lidar_type = lid_type; + blind = bld; + point_filter_num = pfilt_num; +} + +void Preprocess::process(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg, PointCloudXYZI::Ptr &pcl_out) +{ + avia_handler(msg); + *pcl_out = pl_surf; +} + +void Preprocess::process(const sensor_msgs::msg::PointCloud2::SharedPtr &msg, PointCloudXYZI::Ptr &pcl_out) +{ + switch (time_unit) + { + case SEC: + time_unit_scale = 1.e3f; + break; + case MS: + time_unit_scale = 1.f; + break; + case US: + time_unit_scale = 1.e-3f; + break; + case NS: + time_unit_scale = 1.e-6f; + break; + default: + time_unit_scale = 1.f; + break; + } + + switch (lidar_type) + { + case OUST64: + oust64_handler(msg); + break; + + case VELO16: + velodyne_handler(msg); + break; + + case HESAIxt32: + hesai_handler(msg); + break; + + default: + printf("Error LiDAR Type"); + break; + } + *pcl_out = pl_surf; +} + + +void Preprocess::process_cut_frame_livox(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg, + deque &pcl_out, deque &time_lidar, + const int required_frame_num, int scan_count) { + int plsize = msg->point_num; + pl_surf.clear(); + pl_surf.reserve(plsize); + pl_full.clear(); + pl_full.resize(plsize); + int valid_point_num = 0; + + for (uint i = 1; i < plsize; i++) { + if ((msg->points[i].line < N_SCANS) && + ((msg->points[i].tag & 0x30) == 0x10 || (msg->points[i].tag & 0x30) == 0x00)) + { + valid_point_num++; + if (valid_point_num % point_filter_num == 0) { + pl_full[i].x = msg->points[i].x; + pl_full[i].y = msg->points[i].y; + pl_full[i].z = msg->points[i].z; + pl_full[i].intensity = msg->points[i].reflectivity; + //use curvature as time of each laser points，unit: ms + pl_full[i].curvature = msg->points[i].offset_time / float(1000000); + + double dist = pl_full[i].x * pl_full[i].x + pl_full[i].y * pl_full[i].y + pl_full[i].z * pl_full[i].z; + if (dist < blind * blind) continue; + + if ((abs(pl_full[i].x - pl_full[i - 1].x) > 1e-7) + || (abs(pl_full[i].y - pl_full[i - 1].y) > 1e-7) + || (abs(pl_full[i].z - pl_full[i - 1].z) > 1e-7)) { + pl_surf.push_back(pl_full[i]); + } + } + } + } + sort(pl_surf.points.begin(), pl_surf.points.end(), time_list_cut_frame); + //end time of last frame，单位ms + double last_frame_end_time = rclcpp::Time(msg->header.stamp).seconds() * 1000; + uint valid_num = 0; + uint cut_num = 0; + uint valid_pcl_size = pl_surf.points.size(); + + int required_cut_num = required_frame_num; + if (scan_count < 5) + required_cut_num = 1; + + PointCloudXYZI pcl_cut; + for (uint i = 1; i < valid_pcl_size; i++) { + valid_num++; + //Compute new opffset time of each point：ms + pl_surf[i].curvature += rclcpp::Time(msg->header.stamp).seconds() * 1000 - last_frame_end_time; + pcl_cut.push_back(pl_surf[i]); + if (valid_num == (int((cut_num + 1) * valid_pcl_size / required_cut_num) - 1)) { + cut_num++; + time_lidar.push_back(last_frame_end_time); + PointCloudXYZI::Ptr pcl_temp(new PointCloudXYZI()); //Initialize shared_ptr + *pcl_temp = pcl_cut; + pcl_out.push_back(pcl_temp); + //Update frame head + last_frame_end_time += pl_surf[i].curvature; + pcl_cut.clear(); + pcl_cut.reserve(valid_pcl_size * 2 / required_frame_num); + } + } +} +#define MAX_LINE_NUM 128 +void +Preprocess::process_cut_frame_pcl2(const sensor_msgs::msg::PointCloud2::SharedPtr &msg, deque &pcl_out, + deque &time_lidar, const int required_frame_num, int scan_count) { + pl_surf.clear(); + pl_corn.clear(); + pl_full.clear(); + if (lidar_type == VELO16) { + pcl::PointCloud pl_orig; + pcl::fromROSMsg(*msg, pl_orig); + int plsize = pl_orig.points.size(); + pl_surf.reserve(plsize); + + bool is_first[MAX_LINE_NUM]; + double yaw_fp[MAX_LINE_NUM] = {0}; // yaw of first scan point + double omega_l = 3.61; // scan angular velocity (deg/ms) + float yaw_last[MAX_LINE_NUM] = {0.0}; // yaw of last scan point + float time_last[MAX_LINE_NUM] = {0.0}; // last offset time + + if (pl_orig.points[plsize - 1].time > 0) { + given_offset_time = true; + } else { + cout << "Compute offset time using constant rotation model." << endl; + given_offset_time = false; + memset(is_first, true, sizeof(is_first)); + } + + for (int i = 0; i < plsize; i++) { + PointType added_pt; + added_pt.normal_x = 0; + added_pt.normal_y = 0; + added_pt.normal_z = 0; + added_pt.x = pl_orig.points[i].x; + added_pt.y = pl_orig.points[i].y; + added_pt.z = pl_orig.points[i].z; + added_pt.intensity = pl_orig.points[i].intensity; + added_pt.curvature = pl_orig.points[i].time * 1000.0; //ms + + double dist = added_pt.x * added_pt.x + added_pt.y * added_pt.y + added_pt.z * added_pt.z; + if ( dist < blind * blind || isnan(added_pt.x) || isnan(added_pt.y) || isnan(added_pt.z)) + continue; + + if (!given_offset_time) { + int layer = pl_orig.points[i].ring; + double yaw_angle = atan2(added_pt.y, added_pt.x) * 57.2957; + + if (is_first[layer]) { + yaw_fp[layer] = yaw_angle; + is_first[layer] = false; + added_pt.curvature = 0.0; + yaw_last[layer] = yaw_angle; + time_last[layer] = added_pt.curvature; + continue; + } + // compute offset time + if (yaw_angle <= yaw_fp[layer]) { + added_pt.curvature = (yaw_fp[layer] - yaw_angle) / omega_l; + } else { + added_pt.curvature = (yaw_fp[layer] - yaw_angle + 360.0) / omega_l; + } + if (added_pt.curvature < time_last[layer]) added_pt.curvature += 360.0 / omega_l; + + yaw_last[layer] = yaw_angle; + time_last[layer] = added_pt.curvature; + } + + + if (i % point_filter_num == 0 && pl_orig.points[i].ring < N_SCANS) { + pl_surf.points.push_back(added_pt); + } + } + } else if (lidar_type == OUST64) { + pcl::PointCloud pl_orig; + pcl::fromROSMsg(*msg, pl_orig); + int plsize = pl_orig.points.size(); + pl_surf.reserve(plsize); + for (int i = 0; i < plsize; i++) { + PointType added_pt; + added_pt.normal_x = 0; + added_pt.normal_y = 0; + added_pt.normal_z = 0; + added_pt.x = pl_orig.points[i].x; + added_pt.y = pl_orig.points[i].y; + added_pt.z = pl_orig.points[i].z; + added_pt.intensity = pl_orig.points[i].intensity; + added_pt.curvature = pl_orig.points[i].t / 1e6; //ns to ms + + double dist = added_pt.x * added_pt.x + added_pt.y * added_pt.y + added_pt.z * added_pt.z; + if ( dist < blind * blind || isnan(added_pt.x) || isnan(added_pt.y) || isnan(added_pt.z)) + continue; + + if (i % point_filter_num == 0 && pl_orig.points[i].ring < N_SCANS) { + pl_surf.points.push_back(added_pt); + } + } + } else if(lidar_type == HESAIxt32) { + pcl::PointCloud pl_orig; + pcl::fromROSMsg(*msg, pl_orig); + int plsize = pl_orig.points.size(); + pl_surf.reserve(plsize); + for (int i = 0; i < plsize; i++) { + PointType added_pt; + added_pt.normal_x = 0; + added_pt.normal_y = 0; + added_pt.normal_z = 0; + added_pt.x = pl_orig.points[i].x; + added_pt.y = pl_orig.points[i].y; + added_pt.z = pl_orig.points[i].z; + added_pt.intensity = pl_orig.points[i].intensity; + added_pt.curvature = (pl_orig.points[i].timestamp - rclcpp::Time(msg->header.stamp).seconds()) * 1000; //s to ms + + double dist = added_pt.x * added_pt.x + added_pt.y * added_pt.y + added_pt.z * added_pt.z; + if ( dist < blind * blind || isnan(added_pt.x) || isnan(added_pt.y) || isnan(added_pt.z)) + continue; + + if (i % point_filter_num == 0 && pl_orig.points[i].ring < N_SCANS) { + pl_surf.points.push_back(added_pt); + } + } + }else{ + cout << "Wrong LiDAR Type!!!" << endl; + return; + } + + sort(pl_surf.points.begin(), pl_surf.points.end(), time_list_cut_frame); + + //ms + double last_frame_end_time = rclcpp::Time(msg->header.stamp).seconds() * 1000; + uint valid_num = 0; + uint cut_num = 0; + uint valid_pcl_size = pl_surf.points.size(); + + int required_cut_num = required_frame_num; + + if (scan_count < 20) + required_cut_num = 1; + + + PointCloudXYZI pcl_cut; + for (uint i = 1; i < valid_pcl_size; i++) { + valid_num++; + pl_surf[i].curvature += rclcpp::Time(msg->header.stamp).seconds() * 1000 - last_frame_end_time; + pcl_cut.push_back(pl_surf[i]); + + if (valid_num == (int((cut_num + 1) * valid_pcl_size / required_cut_num) - 1)) { + cut_num++; + time_lidar.push_back(last_frame_end_time); + PointCloudXYZI::Ptr pcl_temp(new PointCloudXYZI()); + *pcl_temp = pcl_cut; + pcl_out.push_back(pcl_temp); + last_frame_end_time += pl_surf[i].curvature; + pcl_cut.clear(); + pcl_cut.reserve(valid_pcl_size * 2 / required_frame_num); + } + } +} + +void Preprocess::avia_handler(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg) +{ + pl_surf.clear(); + pl_corn.clear(); + pl_full.clear(); + double t1 = omp_get_wtime(); + int plsize = msg->point_num; + + pl_corn.reserve(plsize); + pl_surf.reserve(plsize); + pl_full.resize(plsize); + + for(int i=0; ipoints[i].line < N_SCANS) && ((msg->points[i].tag & 0x30) == 0x10 || (msg->points[i].tag & 0x30) == 0x00)) + { + valid_num ++; + if (valid_num % point_filter_num == 0) + { + pl_full[i].x = msg->points[i].x; + pl_full[i].y = msg->points[i].y; + pl_full[i].z = msg->points[i].z; + pl_full[i].intensity = msg->points[i].reflectivity; + pl_full[i].curvature = msg->points[i].offset_time / float(1000000); // use curvature as time of each laser points, curvature unit: ms + + if(((abs(pl_full[i].x - pl_full[i-1].x) > 1e-7) + || (abs(pl_full[i].y - pl_full[i-1].y) > 1e-7) + || (abs(pl_full[i].z - pl_full[i-1].z) > 1e-7)) + && (pl_full[i].x * pl_full[i].x + pl_full[i].y * pl_full[i].y + pl_full[i].z * pl_full[i].z > (blind * blind))) + { + pl_surf.push_back(pl_full[i]); + } + } + } + } + +} + +void Preprocess::oust64_handler(const sensor_msgs::msg::PointCloud2::SharedPtr &msg) +{ + pl_surf.clear(); + pl_corn.clear(); + pl_full.clear(); + pcl::PointCloud pl_orig; + pcl::fromROSMsg(*msg, pl_orig); + int plsize = pl_orig.size(); + pl_corn.reserve(plsize); + pl_surf.reserve(plsize); + + + double time_stamp = rclcpp::Time(msg->header.stamp).seconds(); + // cout << "===================================" << endl; + // printf("Pt size = %d, N_SCANS = %d\r\n", plsize, N_SCANS); + for (int i = 0; i < pl_orig.points.size(); i++) + { + if (i % point_filter_num != 0) continue; + + double range = pl_orig.points[i].x * pl_orig.points[i].x + pl_orig.points[i].y * pl_orig.points[i].y + pl_orig.points[i].z * pl_orig.points[i].z; + + if (range < (blind * blind)) continue; + + Eigen::Vector3d pt_vec; + PointType added_pt; + added_pt.x = pl_orig.points[i].x; + added_pt.y = pl_orig.points[i].y; + added_pt.z = pl_orig.points[i].z; + added_pt.intensity = pl_orig.points[i].intensity; + added_pt.normal_x = 0; + added_pt.normal_y = 0; + added_pt.normal_z = 0; + added_pt.curvature = pl_orig.points[i].t * time_unit_scale; // curvature unit: ms + + pl_surf.points.push_back(added_pt); + } + + // pub_func(pl_surf, pub_full, msg->header.stamp); + // pub_func(pl_surf, pub_corn, msg->header.stamp); +} + +void Preprocess::velodyne_handler(const sensor_msgs::msg::PointCloud2::SharedPtr &msg) +{ + pl_surf.clear(); + pl_corn.clear(); + pl_full.clear(); + + pcl::PointCloud pl_orig; + pcl::fromROSMsg(*msg, pl_orig); + int plsize = pl_orig.points.size(); + if (plsize == 0) return; + pl_surf.reserve(plsize); + + /*** These variables only works when no point timestamps given ***/ + double omega_l = 0.361 * SCAN_RATE; // scan angular velocity + std::vector is_first(N_SCANS,true); + std::vector yaw_fp(N_SCANS, 0.0); // yaw of first scan point + std::vector yaw_last(N_SCANS, 0.0); // yaw of last scan point + std::vector time_last(N_SCANS, 0.0); // last offset time + /*****************************************************************/ + + if (pl_orig.points[plsize - 1].time > 0) + { + given_offset_time = true; + } + else + { + given_offset_time = false; + double yaw_first = atan2(pl_orig.points[0].y, pl_orig.points[0].x) * 57.29578; + double yaw_end = yaw_first; + int layer_first = pl_orig.points[0].ring; + for (uint i = plsize - 1; i > 0; i--) + { + if (pl_orig.points[i].ring == layer_first) + { + yaw_end = atan2(pl_orig.points[i].y, pl_orig.points[i].x) * 57.29578; + break; + } + } + } + + for (int i = 0; i < plsize; i++) + { + PointType added_pt; + // cout<<"!!!!!!"< (blind * blind)) + { + pl_surf.points.push_back(added_pt); + } + } + } + +} + +void Preprocess::hesai_handler(const sensor_msgs::msg::PointCloud2::SharedPtr &msg) +{ + pl_surf.clear(); + pl_corn.clear(); + pl_full.clear(); + + pcl::PointCloud pl_orig; + pcl::fromROSMsg(*msg, pl_orig); + int plsize = pl_orig.points.size(); + if (plsize == 0) return; + pl_surf.reserve(plsize); + + /*** These variables only works when no point timestamps given ***/ + double omega_l = 0.361 * SCAN_RATE; // scan angular velocity + std::vector is_first(N_SCANS,true); + std::vector yaw_fp(N_SCANS, 0.0); // yaw of first scan point + std::vector yaw_last(N_SCANS, 0.0); // yaw of last scan point + std::vector time_last(N_SCANS, 0.0); // last offset time + /*****************************************************************/ + + if (pl_orig.points[plsize - 1].timestamp > 0) + { + given_offset_time = true; + } + else + { + given_offset_time = false; + double yaw_first = atan2(pl_orig.points[0].y, pl_orig.points[0].x) * 57.29578; + double yaw_end = yaw_first; + int layer_first = pl_orig.points[0].ring; + for (uint i = plsize - 1; i > 0; i--) + { + if (pl_orig.points[i].ring == layer_first) + { + yaw_end = atan2(pl_orig.points[i].y, pl_orig.points[i].x) * 57.29578; + break; + } + } + } + + double time_head = pl_orig.points[0].timestamp; + + for (int i = 0; i < plsize; i++) + { + PointType added_pt; + // cout<<"!!!!!!"< (blind * blind)) + { + pl_surf.points.push_back(added_pt); + } + } + } + +} + +void Preprocess::give_feature(pcl::PointCloud &pl, vector &types) +{ + int plsize = pl.size(); + int plsize2; + if(plsize == 0) + { + printf("something wrong\n"); + return; + } + uint head = 0; + + while(types[head].range < blind) + { + head++; + } + + // Surf + plsize2 = (plsize > group_size) ? (plsize - group_size) : 0; + + Eigen::Vector3d curr_direct(Eigen::Vector3d::Zero()); + Eigen::Vector3d last_direct(Eigen::Vector3d::Zero()); + + uint i_nex = 0, i2; + uint last_i = 0; uint last_i_nex = 0; + int last_state = 0; + int plane_type; + + for(uint i=head; i0.5) + if(last_state==1 && last_direct.norm()>0.1) + { + double mod = last_direct.transpose() * curr_direct; + if(mod>-0.707 && mod<0.707) + { + types[i].ftype = Edge_Plane; + } + else + { + types[i].ftype = Real_Plane; + } + } + + i = i_nex - 1; + last_state = 1; + } + else // if(plane_type == 2) + { + i = i_nex; + last_state = 0; + } + + last_i = i2; + last_i_nex = i_nex; + last_direct = curr_direct; + } + + plsize2 = plsize > 3 ? plsize - 3 : 0; + for(uint i=head+3; i=Real_Plane) + { + continue; + } + + if(types[i-1].dista<1e-16 || types[i].dista<1e-16) + { + continue; + } + + Eigen::Vector3d vec_a(pl[i].x, pl[i].y, pl[i].z); + Eigen::Vector3d vecs[2]; + + for(int j=0; j<2; j++) + { + int m = -1; + if(j == 1) + { + m = 1; + } + + if(types[i+m].range < blind) + { + if(types[i].range > inf_bound) + { + types[i].edj[j] = Nr_inf; + } + else + { + types[i].edj[j] = Nr_blind; + } + continue; + } + + vecs[j] = Eigen::Vector3d(pl[i+m].x, pl[i+m].y, pl[i+m].z); + vecs[j] = vecs[j] - vec_a; + + types[i].angle[j] = vec_a.dot(vecs[j]) / vec_a.norm() / vecs[j].norm(); + if(types[i].angle[j] < jump_up_limit) + { + types[i].edj[j] = Nr_180; + } + else if(types[i].angle[j] > jump_down_limit) + { + types[i].edj[j] = Nr_zero; + } + } + + types[i].intersect = vecs[Prev].dot(vecs[Next]) / vecs[Prev].norm() / vecs[Next].norm(); + if(types[i].edj[Prev]==Nr_nor && types[i].edj[Next]==Nr_zero && types[i].dista>0.0225 && types[i].dista>4*types[i-1].dista) + { + if(types[i].intersect > cos160) + { + if(edge_jump_judge(pl, types, i, Prev)) + { + types[i].ftype = Edge_Jump; + } + } + } + else if(types[i].edj[Prev]==Nr_zero && types[i].edj[Next]== Nr_nor && types[i-1].dista>0.0225 && types[i-1].dista>4*types[i].dista) + { + if(types[i].intersect > cos160) + { + if(edge_jump_judge(pl, types, i, Next)) + { + types[i].ftype = Edge_Jump; + } + } + } + else if(types[i].edj[Prev]==Nr_nor && types[i].edj[Next]==Nr_inf) + { + if(edge_jump_judge(pl, types, i, Prev)) + { + types[i].ftype = Edge_Jump; + } + } + else if(types[i].edj[Prev]==Nr_inf && types[i].edj[Next]==Nr_nor) + { + if(edge_jump_judge(pl, types, i, Next)) + { + types[i].ftype = Edge_Jump; + } + + } + else if(types[i].edj[Prev]>Nr_nor && types[i].edj[Next]>Nr_nor) + { + if(types[i].ftype == Nor) + { + types[i].ftype = Wire; + } + } + } + + plsize2 = plsize-1; + double ratio; + for(uint i=head+1; i types[i].dista) + { + ratio = types[i-1].dista / types[i].dista; + } + else + { + ratio = types[i].dista / types[i-1].dista; + } + + if(types[i].intersect &types, uint i_cur, uint &i_nex, Eigen::Vector3d &curr_direct) +{ + double group_dis = disA*types[i_cur].range + disB; + group_dis = group_dis * group_dis; + // i_nex = i_cur; + + double two_dis; + vector disarr; + disarr.reserve(20); + + for(i_nex=i_cur; i_nex= pl.size()) || (i_nex >= pl.size())) break; + + if(types[i_nex].range < blind) + { + curr_direct.setZero(); + return 2; + } + vx = pl[i_nex].x - pl[i_cur].x; + vy = pl[i_nex].y - pl[i_cur].y; + vz = pl[i_nex].z - pl[i_cur].z; + two_dis = vx*vx + vy*vy + vz*vz; + if(two_dis >= group_dis) + { + break; + } + disarr.push_back(types[i_nex].dista); + i_nex++; + } + + double leng_wid = 0; + double v1[3], v2[3]; + for(uint j=i_cur+1; j= pl.size()) || (i_cur >= pl.size())) break; + v1[0] = pl[j].x - pl[i_cur].x; + v1[1] = pl[j].y - pl[i_cur].y; + v1[2] = pl[j].z - pl[i_cur].z; + + v2[0] = v1[1]*vz - vy*v1[2]; + v2[1] = v1[2]*vx - v1[0]*vz; + v2[2] = v1[0]*vy - vx*v1[1]; + + double lw = v2[0]*v2[0] + v2[1]*v2[1] + v2[2]*v2[2]; + if(lw > leng_wid) + { + leng_wid = lw; + } + } + + + if((two_dis*two_dis/leng_wid) < p2l_ratio) + { + curr_direct.setZero(); + return 0; + } + + uint disarrsize = disarr.size(); + for(uint j=0; j=limit_maxmid || dismid_min>=limit_midmin) + { + curr_direct.setZero(); + return 0; + } + } + else + { + double dismax_min = disarr[0] / disarr[disarrsize-2]; + if(dismax_min >= limit_maxmin) + { + curr_direct.setZero(); + return 0; + } + } + + curr_direct << vx, vy, vz; + curr_direct.normalize(); + return 1; +} + +bool Preprocess::edge_jump_judge(const PointCloudXYZI &pl, vector &types, uint i, Surround nor_dir) +{ + if(nor_dir == 0) + { + if(types[i-1].rangeedgea*d2 || (d1-d2)>edgeb) + { + return false; + } + + return true; +} diff --git a/src/rm_nav/rm_localization/point_lio/src/preprocess.h b/src/rm_nav/rm_localization/point_lio/src/preprocess.h new file mode 100755 index 0000000..75b456b --- /dev/null +++ b/src/rm_nav/rm_localization/point_lio/src/preprocess.h @@ -0,0 +1,150 @@ +#include +#include +#include +#include +#include + +using namespace std; + +#define IS_VALID(a) ((abs(a)>1e8) ? true : false) + +typedef pcl::PointXYZINormal PointType; +typedef pcl::PointCloud PointCloudXYZI; + +enum LID_TYPE{AVIA = 1, VELO16, OUST64, HESAIxt32}; //{1, 2, 3, 4} +enum TIME_UNIT{SEC = 0, MS = 1, US = 2, NS = 3}; +enum Feature{Nor, Poss_Plane, Real_Plane, Edge_Jump, Edge_Plane, Wire, ZeroPoint}; +enum Surround{Prev, Next}; +enum E_jump{Nr_nor, Nr_zero, Nr_180, Nr_inf, Nr_blind}; + +const bool time_list_cut_frame(PointType &x, PointType &y); + +struct orgtype +{ + double range; + double dista; + double angle[2]; + double intersect; + E_jump edj[2]; + Feature ftype; + orgtype() + { + range = 0; + edj[Prev] = Nr_nor; + edj[Next] = Nr_nor; + ftype = Nor; + intersect = 2; + } +}; + +namespace velodyne_ros { + struct EIGEN_ALIGN16 Point { + PCL_ADD_POINT4D; + float intensity; + float time; + uint16_t ring; + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + }; +} // namespace velodyne_ros +POINT_CLOUD_REGISTER_POINT_STRUCT(velodyne_ros::Point, + (float, x, x) + (float, y, y) + (float, z, z) + (float, intensity, intensity) + (float, time, time) + (std::uint16_t, ring, ring) +) + +namespace hesai_ros { + struct EIGEN_ALIGN16 Point { + PCL_ADD_POINT4D; + float intensity; + double timestamp; + uint16_t ring; + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + }; +} // namespace velodyne_ros +POINT_CLOUD_REGISTER_POINT_STRUCT(hesai_ros::Point, + (float, x, x) + (float, y, y) + (float, z, z) + (float, intensity, intensity) + (double, timestamp, timestamp) + (std::uint16_t, ring, ring) +) + +namespace ouster_ros { + struct EIGEN_ALIGN16 Point { + PCL_ADD_POINT4D; + float intensity; + uint32_t t; + uint16_t reflectivity; + uint8_t ring; + uint16_t ambient; + uint32_t range; + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + }; +} // namespace ouster_ros + +// clang-format off +POINT_CLOUD_REGISTER_POINT_STRUCT(ouster_ros::Point, + (float, x, x) + (float, y, y) + (float, z, z) + (float, intensity, intensity) + // use std::uint32_t to avoid conflicting with pcl::uint32_t + (std::uint32_t, t, t) + (std::uint16_t, reflectivity, reflectivity) + (std::uint8_t, ring, ring) + (std::uint16_t, ambient, ambient) + (std::uint32_t, range, range) +) + +class Preprocess +{ + public: +// EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + Preprocess(); + ~Preprocess(); + + void process_cut_frame_livox(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg, deque &pcl_out, deque &time_lidar, const int required_frame_num, int scan_count); + + void process_cut_frame_pcl2(const sensor_msgs::msg::PointCloud2::SharedPtr &msg, deque &pcl_out, deque &time_lidar, const int required_frame_num, int scan_count); + + void process(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg, PointCloudXYZI::Ptr &pcl_out); + void process(const sensor_msgs::msg::PointCloud2::SharedPtr &msg, PointCloudXYZI::Ptr &pcl_out); + void set(bool feat_en, int lid_type, double bld, int pfilt_num); + + // sensor_msgs::msg::PointCloud2::SharedPtr pointcloud; + PointCloudXYZI pl_full, pl_corn, pl_surf; + PointCloudXYZI pl_buff[128]; //maximum 128 line lidar + vector typess[128]; //maximum 128 line lidar + float time_unit_scale; + int lidar_type, point_filter_num, N_SCANS, SCAN_RATE, time_unit; + double blind; + bool given_offset_time; + // ros::Publisher pub_full, pub_surf, pub_corn; + + + private: + void avia_handler(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg); + void oust64_handler(const sensor_msgs::msg::PointCloud2::SharedPtr &msg); + void velodyne_handler(const sensor_msgs::msg::PointCloud2::SharedPtr &msg); + void hesai_handler(const sensor_msgs::msg::PointCloud2::SharedPtr &msg); + void give_feature(PointCloudXYZI &pl, vector &types); + void pub_func(PointCloudXYZI &pl, const rclcpp::Time &ct); + int plane_judge(const PointCloudXYZI &pl, vector &types, uint i, uint &i_nex, Eigen::Vector3d &curr_direct); + bool small_plane(const PointCloudXYZI &pl, vector &types, uint i_cur, uint &i_nex, Eigen::Vector3d &curr_direct); + bool edge_jump_judge(const PointCloudXYZI &pl, vector &types, uint i, Surround nor_dir); + + int group_size; + double disA, disB, inf_bound; + double limit_maxmid, limit_midmin, limit_maxmin; + double p2l_ratio; + double jump_up_limit, jump_down_limit; + double cos160; + double edgea, edgeb; + double smallp_intersect, smallp_ratio; + double vx, vy, vz; +}; diff --git a/src/rm_nav/rm_nav_bringup/CMakeLists.txt b/src/rm_nav/rm_nav_bringup/CMakeLists.txt new file mode 100644 index 0000000..feddc14 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/CMakeLists.txt @@ -0,0 +1,25 @@ +cmake_minimum_required(VERSION 3.8) +project(rm_nav_bringup) + +if(CMAKE_EXPORT_COMPILE_COMMANDS) + set(CMAKE_EXPORT_COMPILE_COMMANDS ${CMAKE_EXPORT_COMPILE_COMMANDS}) +endif() + +find_package(ament_cmake_auto REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + set(ament_cmake_copyright_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package( + INSTALL_TO_SHARE + launch + config + map + PCD + rviz + urdf +) + diff --git a/src/rm_nav/rm_nav_bringup/PCD/C.pcd b/src/rm_nav/rm_nav_bringup/PCD/C.pcd new file mode 100644 index 0000000..7e827a8 Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/PCD/C.pcd differ diff --git a/src/rm_nav/rm_nav_bringup/PCD/C_ROOM.pcd b/src/rm_nav/rm_nav_bringup/PCD/C_ROOM.pcd new file mode 100644 index 0000000..a24212f Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/PCD/C_ROOM.pcd differ diff --git a/src/rm_nav/rm_nav_bringup/PCD/RMUC.pcd b/src/rm_nav/rm_nav_bringup/PCD/RMUC.pcd new file mode 100644 index 0000000..256db54 Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/PCD/RMUC.pcd differ diff --git a/src/rm_nav/rm_nav_bringup/PCD/RMUL.pcd b/src/rm_nav/rm_nav_bringup/PCD/RMUL.pcd new file mode 100644 index 0000000..055222f Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/PCD/RMUL.pcd differ diff --git a/src/rm_nav/rm_nav_bringup/PCD/UL.pcd b/src/rm_nav/rm_nav_bringup/PCD/UL.pcd new file mode 100644 index 0000000..f5fe6d3 Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/PCD/UL.pcd differ diff --git a/src/rm_nav/rm_nav_bringup/PCD/rmul_2025.pcd b/src/rm_nav/rm_nav_bringup/PCD/rmul_2025.pcd new file mode 100644 index 0000000..cece636 Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/PCD/rmul_2025.pcd differ diff --git a/src/rm_nav/rm_nav_bringup/config/reality/MID360_config.json b/src/rm_nav/rm_nav_bringup/config/reality/MID360_config.json new file mode 100644 index 0000000..93f10c8 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/config/reality/MID360_config.json @@ -0,0 +1,41 @@ +{ + "lidar_summary_info" : { + "lidar_type": 8 + }, + "MID360": { + "lidar_net_info" : { + "cmd_data_port": 56100, + "push_msg_port": 56200, + "point_data_port": 56300, + "imu_data_port": 56400, + "log_data_port": 56500 + }, + "host_net_info" : { + "cmd_data_ip" : "192.168.1.50", + "cmd_data_port": 56101, + "push_msg_ip": "192.168.1.50", + "push_msg_port": 56201, + "point_data_ip": "192.168.1.50", + "point_data_port": 56301, + "imu_data_ip" : "192.168.1.50", + "imu_data_port": 56401, + "log_data_ip" : "", + "log_data_port": 56501 + } + }, + "lidar_configs" : [ + { + "ip" : "192.168.1.176", + "pcl_data_type" : 1, + "pattern_mode" : 0, + "extrinsic_parameter" : { + "roll": 180.0, + "pitch": 0.0, + "yaw": 0.0, + "x": 0, + "y": 0, + "z": 0 + } + } + ] +} diff --git a/src/rm_nav/rm_nav_bringup/config/reality/fastlio_mid360_real.yaml b/src/rm_nav/rm_nav_bringup/config/reality/fastlio_mid360_real.yaml new file mode 100644 index 0000000..39dd52b --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/config/reality/fastlio_mid360_real.yaml @@ -0,0 +1,50 @@ +/**: + ros__parameters: + feature_extract_enable: false + point_filter_num: 3 + max_iteration: 3 + filter_size_surf: 0.5 + filter_size_map: 0.5 + cube_side_length: 1000.0 + runtime_pos_log_enable: false + map_file_path: "src/rm_nav_bringup/PCD/YOUR_MAP_NAME.pcd" + + common: + lid_topic: "/livox/lidar" + imu_topic: "/imu/data" + time_sync_en: false # ONLY turn on when external time synchronization is really not possible + time_offset_lidar_to_imu: 0.0 # Time offset between lidar and IMU calibrated by other algorithms, e.g. LI-Init (can be found in README). + # This param will take effect no matter what time_sync_en is. So if the time offset is not known exactly, please set as 0.0 + + preprocess: + lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 4 for any other pointcloud input + scan_line: 4 + blind: 0.5 + timestamp_unit: 3 + scan_rate: 10 + + mapping: + acc_cov: 0.1 + gyr_cov: 0.1 + b_acc_cov: 0.001 + b_gyr_cov: 0.001 + fov_degree: 360.0 + det_range: 100.0 + extrinsic_est_en: false # true: enable the online estimation of IMU-LiDAR extrinsic + extrinsic_T: [ -0.011, -0.02329, 0.04412 ] # Real + extrinsic_R: [1., 0., 0., + 0., 1., 0., + 0., 0., 1.] + + publish: + path_en: true # true: publish Path + effect_map_en: false # true: publish Effects + map_en: true # true: publish Map cloud + scan_publish_en: true # false: close all the point cloud output + dense_publish_en: false # false: low down the points number in a global-frame point clouds scan. + scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame + + pcd_save: + pcd_save_en: true + interval: -1 # how many LiDAR frames saved in each pcd file; + # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. \ No newline at end of file diff --git a/src/rm_nav/rm_nav_bringup/config/reality/icp_registration_real.yaml b/src/rm_nav/rm_nav_bringup/config/reality/icp_registration_real.yaml new file mode 100644 index 0000000..856cfd5 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/config/reality/icp_registration_real.yaml @@ -0,0 +1,16 @@ +/icp_registration: + ros__parameters: + use_sim_time: false + rough_leaf_size: 0.4 + refine_leaf_size: 0.1 + pcd_path: "" + map_frame_id: "map" + odom_frame_id: "odom" + range_odom_frame_id: "lidar_odom" + laser_frame_id: "livox_frame" + pointcloud_topic: "/livox/lidar/pointcloud" + thresh: 0.1 + xy_offset: 0.2 + yaw_offset: 30.0 + yaw_resolution: 10.0 + initial_pose: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # x,y,z,roll,pitch,yaw \ No newline at end of file diff --git a/src/rm_nav/rm_nav_bringup/config/reality/mapper_params_localization_real.yaml b/src/rm_nav/rm_nav_bringup/config/reality/mapper_params_localization_real.yaml new file mode 100644 index 0000000..9d55a2c --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/config/reality/mapper_params_localization_real.yaml @@ -0,0 +1,68 @@ +slam_toolbox: + ros__parameters: + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_link + scan_topic: /scan + mode: localization #localization + + # if you'd like to start localizing on bringup in a map and pose + # map_file_name: + map_start_pose: [0.0, 0.0, 0.0] + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.0002 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.5 + tf_buffer_duration: 30. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + scan_buffer_size: 3 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + # do_loop_closing: true + do_loop_closing: false + loop_match_minimum_chain_size: 3 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + loop_search_maximum_distance: 3.0 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true \ No newline at end of file diff --git a/src/rm_nav/rm_nav_bringup/config/reality/mapper_params_online_async_real.yaml b/src/rm_nav/rm_nav_bringup/config/reality/mapper_params_online_async_real.yaml new file mode 100644 index 0000000..9e419d6 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/config/reality/mapper_params_online_async_real.yaml @@ -0,0 +1,73 @@ +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_link + scan_topic: /scan + mode: mapping #localization + + # if you'd like to immediately start continuing a map at a given pose + # or at the dock, but they are mutually exclusive, if pose is given + # will use pose + #map_file_name: test_steve + # map_start_pose: [0.0, 0.0, 0.0] + #map_start_at_dock: true + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 30. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true \ No newline at end of file diff --git a/src/rm_nav/rm_nav_bringup/config/reality/measurement_params_real.yaml b/src/rm_nav/rm_nav_bringup/config/reality/measurement_params_real.yaml new file mode 100644 index 0000000..1c4fbc3 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/config/reality/measurement_params_real.yaml @@ -0,0 +1,3 @@ +base_link2livox_frame: + xyz: "\"0.1 0.0 0.63\"" + rpy: "\"0.0 0.0 0.0\"" \ No newline at end of file diff --git a/src/rm_nav/rm_nav_bringup/config/reality/nav2_params_real.yaml b/src/rm_nav/rm_nav_bringup/config/reality/nav2_params_real.yaml new file mode 100644 index 0000000..d7d4292 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/config/reality/nav2_params_real.yaml @@ -0,0 +1,411 @@ +amcl: + ros__parameters: + use_sim_time: False + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 + base_frame_id: "base_link" + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: false + global_frame_id: "map" + lambda_short: 0.1 + laser_likelihood_max_dist: 2.0 + laser_max_range: 100.0 + laser_min_range: -1.0 + laser_model_type: "likelihood_field" + max_beams: 60 + max_particles: 2000 + min_particles: 500 + odom_frame_id: "odom" + pf_err: 0.05 + pf_z: 0.99 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 1 + robot_model_type: "nav2_amcl::OmniMotionModel" + save_pose_rate: 0.5 + sigma_hit: 0.2 + tf_broadcast: true + transform_tolerance: 1.0 + update_min_a: 0.2 + update_min_d: 0.25 + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 + scan_topic: scan + +amcl_map_client: + ros__parameters: + use_sim_time: False + +amcl_rclcpp_node: + ros__parameters: + use_sim_time: False + +bt_navigator: + ros__parameters: + use_sim_time: False + global_frame: map + robot_base_frame: base_link_fake + odom_topic: /Odometry + bt_loop_duration: 10 + default_server_timeout: 20 + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_back_up_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + +controller_server: + ros__parameters: + use_sim_time: False + controller_frequency: 20.0 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.1 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugin: "progress_checker" + goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" + controller_plugins: ["FollowPath"] + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + general_goal_checker: + stateful: True + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 6.28 + FollowPath: + plugin: teb_local_planner::TebLocalPlannerROS + # https://github.com/rst-tu-dortmund/teb_local_planner/tree/ros2-master + + #******************************************************************************* + # Trajectory + #******************************************************************************* + teb_autosize: 1.0 #是否自动调整轨迹大小。根据时间分辨率自动调整轨迹大小 + dt_ref: 0.6 #轨迹的期望时间分辨率（应该与底层控制速率的数量级相符） + dt_hysteresis: 0.06 #自动调整大小的滞后（根据当前时间分辨率 dt）：通常为 dt_ref 的 10% + max_samples: 500 #最大样本数量；警告：如果太小，离散化/分辨率可能不足以用于给定的机器人模型，或者避障不再有效。 + global_plan_overwrite_orientation: False #覆盖全局规划器提供的局部子目标的方向 + allow_init_with_backwards_motion: True #如果为真，基础轨迹可能会以后退运动初始化，以防目标在本地代价地图中位于起点之后（仅当机器人配备后部传感器时推荐） + max_global_plan_lookahead_dist: 2.0 #指定用于优化考虑的全局规划子集的最大长度（累积欧氏距离）[如果 <=0：禁用；长度也受到本地代价地图大小的限制！ + force_reinit_new_goal_dist: 1.0 #如果之前的目标更新距离超过此值，则强制规划器重新初始化轨迹 + force_reinit_new_goal_angular: 0.78 #如果之前的目标更新的角度超过此弧度值，则强制规划器重新初始化轨迹 + feasibility_check_no_poses: 0 #在预测路径上，每个采样间隔需要检查可行性的姿态数目 + feasibility_check_lookahead_distance: 1.5 #每个采样间隔需要检查可行性的距离（以及feasibility_check_no_poses之下的索引）与机器人之间的距离。-1检查所有姿势，直到feasibility_check_no_poses。https://robotics.stackexchange.com/questions/80845/what-are-reasons-for-teb-planners-feasibility-check-to-fail + exact_arc_length: False #如果为真，规划器在速度、加速度和转向率计算中使用准确的弧长 [-> 增加 CPU 时间]，否则使用欧氏近似。 + publish_feedback: False #发布包含完整轨迹和活动障碍物列表的规划器反馈（应仅用于评估或调试目的） + visualize_with_time_as_z_axis_scale: 0.0 #在rviz里可看到优化使用的graph + + #******************************************************************************* + # ViaPoints 中间点 + #******************************************************************************* + global_plan_viapoint_sep: 0.5 #从全局计划中提取的连续中间点之间的最小分离距离 + via_points_ordered: False #是否遵循存储容器中中间点的顺序 + + #******************************************************************************* + # Robot + #******************************************************************************* + max_vel_x: 2.0 #最大平移速度 + max_vel_x_backwards: 2.0 #最大后退速度 + max_vel_theta: 0.0 #最大转向角速度 + acc_lim_x: 2.0 #最大平移加速度 + acc_lim_theta: 0.0 #最大角加速度 + is_footprint_dynamic: False #如果为真，在检查轨迹可行性之前更新足迹 + use_proportional_saturation: False #如果为true，则按比例减少所有扭曲分量（线性x和y以及角度z）（如果任何扭曲分量超过其相应的界限），而不是单独饱和每个扭曲分量 + transform_tolerance: 0.5 #在TF树中查询转换时的容差（秒） + + #******************************************************************************* + # Robot/Carlike 此部分参数仅适用于类似汽车的机器人（如差速驱动机器人） + #******************************************************************************* + # min_turning_radius: 0.0 #机器人的最小转弯半径。对于差速驱动机器人，此值为0 + # wheelbase: 1.0 #驱动轮轴与转向轮轴之间的距离。后轮驱动机器人此值可能为负数。 + # cmd_angle_instead_rotvel: False #是否用转向角代替控制指令消息中的旋转速度（需要结合轴距参数使用） + + #******************************************************************************* + # Robot/Omni 此部分参数仅适用于全方位移动机器人 + #******************************************************************************* + max_vel_y: 2.0 + acc_lim_y: 2.0 + + #******************************************************************************* + # GoalTolerance 目标容差 + #******************************************************************************* + free_goal_vel: False #允许机器人以最大速度驶向目的地，为False时，车到达终点时的目标速度为0； + + #******************************************************************************* + # Obstacles 障碍物 + #******************************************************************************* + min_obstacle_dist: 0.25 #机器人与障碍物之间最小的期望间隔距离 + inflation_dist: 0.6 #障碍物周围的缓冲区，用于增加安全裕度。此缓冲区内具有非零的惩罚代价 + dynamic_obstacle_inflation_dist: 0.7 #具有非零惩罚成本的动态障碍物预测位置周围的缓冲区（应大于min_obstacle_dist才能生效) + include_dynamic_obstacles: True #预测动态障碍物周围的缓冲区，用于增加安全裕度。此缓冲区内具有非零的惩罚代价 + include_costmap_obstacles: True #是否直接考虑代价地图中的障碍物 (如果没有单独的聚类和检测功能，则需要此选项) + legacy_obstacle_association: False #是否严格遵循局部规划出来的路径。如果为真，则使用旧的关联策略 (为每个障碍物找到最近的 TEB 姿势)，否则使用新的关联策略 (为每个 TEB 姿势仅找到“相关”障碍物) + costmap_obstacles_behind_robot_dist: 1.5 #限制规划时考虑的占据局部代价地图障碍物 (指定距离，米)。该值仅对机器人后方的障碍物生效。 + obstacle_poses_affected: 15 #为了减少计算量，障碍物位置会附加到轨迹上最近的姿态上，但也会考虑一定数量的相邻姿态。 + + # costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH" + # costmap_converter_spin_thread: True + # costmap_converter_rate: 10 + + #******************************************************************************* + # Obstacle - Velocity ratio parameters 该组包含用于根据障碍物 proximity 动态调整机器人速度的设置。 + #******************************************************************************* + obstacle_proximity_ratio_max_vel: 1.0 #由于接近静态障碍物而降低速度时用作上限的比率。 + obstacle_proximity_lower_bound: 0.0 #需要降低速度的静态障碍物距离 (米) + obstacle_proximity_upper_bound: 0.5 #应该保持较高速度的静态障碍物距离 (米) + + #******************************************************************************* + # Optimization 优化 + #******************************************************************************* + no_inner_iterations: 5 #在外循环每次迭代中调用求解器迭代的次数 + no_outer_iterations: 4 #外循环每次迭代会自动调整轨迹大小，并使用指定的内部迭代次数调用内部优化器 + optimization_activate: True #启用优化功能 + optimization_verbose: False #打印详细的优化过程信息 + penalty_epsilon: 0.15 #为惩罚函数添加微小的安全裕量，用于处理难以满足的硬性约束条件 + + # 权重参数 + obstacle_cost_exponent: 4.0 + weight_max_vel_x: 2.0 #满足最大允许平移速度的权重 + weight_max_vel_y: 2.0 #满足最大允许横移速度的权重 (仅用于全向移动机器人) + weight_max_vel_theta: 1.0 #满足最大允许角速度的权重 + weight_acc_lim_x: 1.0 #满足最大允许平移加速度的权重 + weight_acc_lim_y: 1.0 #满足最大允许横移加速度的权重 (仅用于全向移动机器人) + weight_acc_lim_theta: 1.0 #满足最大允许角加速度的权重 + weight_kinematics_nh: 0.0 #满足非全向运动学约束的权重 + weight_kinematics_forward_drive: 0.0 #强制机器人仅选择向前运动方向的权重 (仅用于差分驱动机器人) + weight_kinematics_turning_radius: 0.1 #强制最小转弯半径（小车型机器人）的优化权重 + weight_optimaltime: 0.1 #优化轨迹并尽量缩短运动时间的权重，确保在规定的时间内到达目标 + weight_shortest_path: 0.0 #倾向于选择更短的路径，路径可能更加弯曲或不平坦 + weight_obstacle: 100.0 #与障碍物保持最小距离的权重 + weight_inflation: 0.2 #优化轨迹并尽量避免膨胀区域的权重 (权重应设置较小) + weight_dynamic_obstacle: 10.0 #与动态障碍物保持最小距离的权重 + weight_dynamic_obstacle_inflation: 0.2 #优化轨迹并尽量避免动态障碍物膨胀区域的权重 (权重应设置较小) + weight_viapoint: 1.0 #一些特定的权重 (例如 weight_obstacle) 会在外循环每次迭代中乘以该因子进行调整。这样逐步增加权重比直接设置较高的权重值可以改善优化问题的数值条件 + weight_adapt_factor: 2.0 #非线性障碍物代价的指数 (cost = linear_cost * obstacle_cost_exponent)。设置为 1 则禁用非线性代价 (默认值) + + #******************************************************************************* + # Homotopy Class Planner + #******************************************************************************* + enable_homotopy_class_planning: False + enable_multithreading: True #是否启用多线程并行规划多个路径 + max_number_classes: 3 #允许探索的最大替代拓扑类别数 (会增加计算量) + selection_cost_hysteresis: 1.0 + selection_prefer_initial_plan: 1.0 + selection_obst_cost_scale: 1.0 + selection_alternative_time_cost: True + + roadmap_graph_no_samples: 15 #指定为创建路线图而生成的样本数 + roadmap_graph_area_width: 5.0 #指定该区域的宽度 + roadmap_graph_area_length_scale: 1.0 #矩形区域的长度由起点和终点之间的距离决定。该参数会进一步缩放距离，使几何中心保持不变 + h_signature_prescaler: 0.5 #（0.2 < value <= 1）缩放用于区分同伦类的内部参数 + h_signature_threshold: 0.1 #如果实部和复部的差都低于规定的阈值，则假定两个h签名相等。 + obstacle_heading_threshold: 0.45 #为了将障碍物纳入探索范围，需要指定障碍物朝向和目标朝向的归一化点积的阈值 + switching_blocking_period: 0.0 #指定允许切换到新的等效类之前需要终止的持续时间 + viapoints_all_candidates: True #若为真，则所有不同拓扑结构的路径都会附加到路径点集合上，否则只会附加与初始/全局计划共享相同路径点的路径 (在测试优化节点中没有效果) + delete_detours_backwards: True + max_ratio_detours_duration_best_duration: 3.0 + visualize_hc_graph: False #可视化用于探索新拓扑类的图 + + #******************************************************************************* + # Recovery + #******************************************************************************* + #当规划器检测到系统异常，允许缩小时域规划范围,TEB将以更近的点作为规划目标，尝试重新规划出可行路径; + shrink_horizon_backup: True + shrink_horizon_min_duration: 10.0 #如果检测到不可行的轨迹，激活缩小的水平线后备模式，本参数为其最短持续时间。 + oscillation_recovery: True #尝试检测和解决振荡 + oscillation_v_eps: 0.1 #(0,1)内的 normalized 线速度的平均值的阈值，判断机器人是否运动异常 + oscillation_omega_eps: 0.1 #(0,1)内的 normalized 角速度的平均值，判断机器人是否运动异常 + oscillation_recovery_min_duration: 10.0 #在这个时间内，是否再次发生FailureDetector检测的振荡 + oscillation_filter_duration: 10.0 #failure_detector_中buffer容器的大小为oscillation_filter_duration * controller_frequency + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 20.0 + publish_frequency: 10.0 + global_frame: map + robot_base_frame: base_link_fake + use_sim_time: False + rolling_window: true + width: 5 + height: 5 + resolution: 0.02 + robot_radius: 0.2 + plugins: ["obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: true + observation_sources: scan + scan: + topic: /scan + raytrace_max_range: 6.0 + obstacle_max_range: 6.0 + obstacle_min_range: 0.1 + max_obstacle_height: 2.0 + clearing: true + marking: true + inf_is_valid: true + data_type: "LaserScan" + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 5.0 + inflation_radius: 0.6 + always_send_full_costmap: true + +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + global_frame: map + robot_base_frame: base_link_fake + use_sim_time: False + robot_radius: 0.2 + resolution: 0.04 + track_unknown_space: true + plugins: ["static_layer", "stvl_layer", "inflation_layer"] + stvl_layer: + plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer" + # https://github.com/SteveMacenski/spatio_temporal_voxel_layer + enabled: true + voxel_decay: 0.5 # 如果是线性衰减，单位为秒；如果是指数衰减，则为 e 的 n 次方 + decay_model: 0 # 衰减模型，0=线性，1=指数，-1=持久 + voxel_size: 0.05 # 每个体素的尺寸，单位为米 + track_unknown_space: true # default space is unknown + mark_threshold: 0 # voxel height + update_footprint_enabled: true + combination_method: 1 # 1=max, 0=override + origin_z: 0.0 # 单位为米 + publish_voxel_map: true # default false, 是否发布体素地图 + transform_tolerance: 0.2 # 单位为秒 + mapping_mode: false # default off, saves map not for navigation + map_save_duration: 60.0 # default 60s, how often to autosave + observation_sources: livox_mark livox_clear + livox_mark: + data_type: PointCloud2 + topic: /segmentation/obstacle + marking: true + clearing: false + obstacle_range: 3.0 # meters + min_obstacle_height: 0.2 # default 0, meters + max_obstacle_height: 2.0 # default 3, meters + expected_update_rate: 0.0 # default 0, if not updating at this rate at least, remove from buffer + observation_persistence: 0.0 # default 0, use all measurements taken during now-value, 0=latest + inf_is_valid: false # default false, for laser scans + filter: "voxel" # default passthrough, apply "voxel", "passthrough", or no filter to sensor data, recommend on + voxel_min_points: 0 # default 0, minimum points per voxel for voxel filter + clear_after_reading: true # default false, clear the buffer after the layer gets readings from it + livox_clear: + enabled: true # default true, can be toggled on/off with associated service call + data_type: PointCloud2 + topic: /segmentation/obstacle + marking: false + clearing: true + max_z: 8.0 # default 10, meters + min_z: 1.0 # default 0, meters + vertical_fov_angle: 1.029 # 垂直视场角，单位为弧度，For 3D lidars it's the symmetric FOV about the planar axis. + vertical_fov_padding: 0.05 # 3D Lidar only. Default 0, in meters + horizontal_fov_angle: 6.29 # 3D 激光雷达水平视场角 + decay_acceleration: 5.0 # default 0, 1/s^2. + model_type: 1 # 0=深度相机，1=3D激光雷达 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + footprint_clearing_enabled: True + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 8.0 + inflation_radius: 0.7 + always_send_full_costmap: True + +map_saver: + ros__parameters: + use_sim_time: False + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + expected_planner_frequency: 5.0 + use_sim_time: False + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_navfn_planner/NavfnPlanner" + tolerance: 0.5 + use_astar: false + allow_unknown: true + +recoveries_server: + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 2.0 + recovery_plugins: ["spin", "backup"] + spin: + plugin: "nav2_recoveries/Spin" + backup: + plugin: "nav2_recoveries/BackUp" + global_frame: odom + robot_base_frame: base_link_fake + transform_timeout: 0.1 + use_sim_time: False + simulate_ahead_time: 1.0 + max_rotational_vel: 3.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.0 + +map_server: + ros__parameters: + use_sim_time: False + yaml_filename: "" + +velocity_smoother: + ros__parameters: + smoothing_frequency: 20.0 + scale_velocities: False + feedback: "OPEN_LOOP" + max_velocity: [2.0, 2.0, 3.0] + min_velocity: [-2.0, -2.0, -3.0] + deadband_velocity: [0.0, 0.0, 0.0] + velocity_timeout: 1.0 + max_accel: [2.0, 2.0, 6.0] + max_decel: [-2.0, -2.0, -6.0] + odom_topic: "Odometry" + odom_duration: 0.1 \ No newline at end of file diff --git a/src/rm_nav/rm_nav_bringup/config/reality/pointlio_mid360_real.yaml b/src/rm_nav/rm_nav_bringup/config/reality/pointlio_mid360_real.yaml new file mode 100755 index 0000000..41b9e24 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/config/reality/pointlio_mid360_real.yaml @@ -0,0 +1,58 @@ +/**: + ros__parameters: + common: + lid_topic: "/livox/lidar" + imu_topic: "/livox/imu" + con_frame: false # true: if you need to combine several LiDAR frames into one + con_frame_num: 1 # the number of frames combined + cut_frame: false # true: if you need to cut one LiDAR frame into several subframes + cut_frame_time_interval: 0.1 # should be integral fraction of 1 / LiDAR frequency + time_diff_lidar_to_imu: 0.0 # Time offset between LiDAR and IMU calibrated by other algorithms, e.g., LI-Init (find in Readme) + + preprocess: + lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR + scan_line: 4 + timestamp_unit: 3 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond. + blind: 0.5 + + mapping: + imu_en: true + start_in_aggressive_motion: false # if true, a preknown gravity should be provided in following gravity_init + extrinsic_est_en: false # for aggressive motion, set this variable false + imu_time_inte: 0.005 # = 1 / frequency of IMU + satu_acc: 3.0 # the saturation value of IMU's acceleration. not related to the units + satu_gyro: 35.0 # the saturation value of IMU's angular velocity. not related to the units + acc_norm: 1.0 # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration + lidar_meas_cov: 0.01 # 0.001 + acc_cov_output: 500.0 + gyr_cov_output: 1000.0 + b_acc_cov: 0.0001 + b_gyr_cov: 0.0001 + imu_meas_acc_cov: 0.01 #0.1 # 2 + imu_meas_omg_cov: 0.01 #0.1 # 2 + gyr_cov_input: 0.01 # for IMU as input model + acc_cov_input: 0.1 # for IMU as input model + plane_thr: 0.1 # 0.05, the threshold for plane criteria, the smaller, the flatter a plane + match_s: 81.0 + fov_degree: 360.0 + det_range: 100.0 + gravity_align: true # true to align the z axis of world frame with the direction of gravity, and the gravity direction should be specified below + gravity: [ 0.0, 0.0, -9.810 ] # [0.0, 9.810, 0.0] # gravity to be aligned + gravity_init: [ 0.0, 0.0, -9.810 ] # [0.0, 9.810, 0.0] # # preknown gravity in the first IMU body frame, use when imu_en is false or start from a non-stationary state + extrinsic_T: [ -0.011, -0.02329, 0.04412 ] + extrinsic_R: [ 1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0 ] + + odometry: + publish_odometry_without_downsample: true + + publish: + path_en: true # false: close the path output + scan_publish_en: true # false: close all the point cloud output + scan_bodyframe_pub_en: false # true: output the point cloud scans in IMU-body-frame + + pcd_save: + pcd_save_en: false + interval: -1 # how many LiDAR frames saved in each pcd file; + # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. \ No newline at end of file diff --git a/src/rm_nav/rm_nav_bringup/config/reality/segmentation_real.yaml b/src/rm_nav/rm_nav_bringup/config/reality/segmentation_real.yaml new file mode 100644 index 0000000..86d97b6 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/config/reality/segmentation_real.yaml @@ -0,0 +1,28 @@ +ground_segmentation: + ros__parameters: + n_threads: 4 # number of threads to use. + + r_min: 0.2 # minimum point distance. + r_max: 50 # maximum point distance. + n_bins: 120 # number of radial bins. + n_segments: 360 # number of radial segments. + + max_dist_to_line: 0.1 # maximum vertical distance of point to line to be considered ground. + + sensor_height: 0.63 # REAL sensor height above ground. + min_slope: -0.4 # minimum slope of a ground line. + max_slope: 0.4 # maximum slope of a ground line. + max_fit_error: 0.05 # maximum error of a point during line fit. + long_threshold: 1.0 # distance between points after which they are considered far from each other. + max_long_height: 0.1 # maximum height change to previous point in long line. + max_start_height: 0.5 # maximum difference to estimated ground height to start a new line. + line_search_angle: 0.8 # how far to search in angular direction to find a line [rad]. + + gravity_aligned_frame: "" # Frame which has its z axis aligned with gravity. (Sensor frame if empty.) + + latch: false # latch output topics or not + visualize: false # visualize segmentation result - USE ONLY FOR DEBUGGING + + input_topic: "/livox/lidar/pointcloud" + obstacle_output_topic: "segmentation/obstacle" + ground_output_topic: "segmentation/ground" \ No newline at end of file diff --git a/src/rm_nav/rm_nav_bringup/config/simulation/fastlio_mid360_sim.yaml b/src/rm_nav/rm_nav_bringup/config/simulation/fastlio_mid360_sim.yaml new file mode 100644 index 0000000..f928f6e --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/config/simulation/fastlio_mid360_sim.yaml @@ -0,0 +1,50 @@ +/**: + ros__parameters: + feature_extract_enable: false + point_filter_num: 3 + max_iteration: 3 + filter_size_surf: 0.5 + filter_size_map: 0.5 + cube_side_length: 1000.0 + runtime_pos_log_enable: false + map_file_path: "src/rm_nav_bringup/PCD/YOUR_MAP_NAME.pcd" + + common: + lid_topic: "/livox/lidar" + imu_topic: "/imu/data" + time_sync_en: false # ONLY turn on when external time synchronization is really not possible + time_offset_lidar_to_imu: 0.0 # Time offset between lidar and IMU calibrated by other algorithms, e.g. LI-Init (can be found in README). + # This param will take effect no matter what time_sync_en is. So if the time offset is not known exactly, please set as 0.0 + + preprocess: + lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 4 for any other pointcloud input + scan_line: 4 + blind: 0.5 + timestamp_unit: 3 + scan_rate: 10 + + mapping: + acc_cov: 0.1 + gyr_cov: 0.1 + b_acc_cov: 0.001 + b_gyr_cov: 0.001 + fov_degree: 360.0 + det_range: 100.0 + extrinsic_est_en: false # true: enable the online estimation of IMU-LiDAR extrinsic + extrinsic_T: [ 0.0, 0.0, 0.05 ] # Simulation + extrinsic_R: [1., 0., 0., + 0., 1., 0., + 0., 0., 1.] + + publish: + path_en: true # true: publish Path + effect_map_en: false # true: publish Effects + map_en: true # true: publish Map cloud + scan_publish_en: true # false: close all the point cloud output + dense_publish_en: false # false: low down the points number in a global-frame point clouds scan. + scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame + + pcd_save: + pcd_save_en: true + interval: -1 # how many LiDAR frames saved in each pcd file; + # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. \ No newline at end of file diff --git a/src/rm_nav/rm_nav_bringup/config/simulation/icp_registration_sim.yaml b/src/rm_nav/rm_nav_bringup/config/simulation/icp_registration_sim.yaml new file mode 100644 index 0000000..856cfd5 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/config/simulation/icp_registration_sim.yaml @@ -0,0 +1,16 @@ +/icp_registration: + ros__parameters: + use_sim_time: false + rough_leaf_size: 0.4 + refine_leaf_size: 0.1 + pcd_path: "" + map_frame_id: "map" + odom_frame_id: "odom" + range_odom_frame_id: "lidar_odom" + laser_frame_id: "livox_frame" + pointcloud_topic: "/livox/lidar/pointcloud" + thresh: 0.1 + xy_offset: 0.2 + yaw_offset: 30.0 + yaw_resolution: 10.0 + initial_pose: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # x,y,z,roll,pitch,yaw \ No newline at end of file diff --git a/src/rm_nav/rm_nav_bringup/config/simulation/mapper_params_localization_sim.yaml b/src/rm_nav/rm_nav_bringup/config/simulation/mapper_params_localization_sim.yaml new file mode 100644 index 0000000..9d55a2c --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/config/simulation/mapper_params_localization_sim.yaml @@ -0,0 +1,68 @@ +slam_toolbox: + ros__parameters: + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_link + scan_topic: /scan + mode: localization #localization + + # if you'd like to start localizing on bringup in a map and pose + # map_file_name: + map_start_pose: [0.0, 0.0, 0.0] + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.0002 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.5 + tf_buffer_duration: 30. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + scan_buffer_size: 3 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + # do_loop_closing: true + do_loop_closing: false + loop_match_minimum_chain_size: 3 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + loop_search_maximum_distance: 3.0 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true \ No newline at end of file diff --git a/src/rm_nav/rm_nav_bringup/config/simulation/mapper_params_online_async_sim.yaml b/src/rm_nav/rm_nav_bringup/config/simulation/mapper_params_online_async_sim.yaml new file mode 100644 index 0000000..9e419d6 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/config/simulation/mapper_params_online_async_sim.yaml @@ -0,0 +1,73 @@ +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_link + scan_topic: /scan + mode: mapping #localization + + # if you'd like to immediately start continuing a map at a given pose + # or at the dock, but they are mutually exclusive, if pose is given + # will use pose + #map_file_name: test_steve + # map_start_pose: [0.0, 0.0, 0.0] + #map_start_at_dock: true + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 30. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true \ No newline at end of file diff --git a/src/rm_nav/rm_nav_bringup/config/simulation/measurement_params_sim.yaml b/src/rm_nav/rm_nav_bringup/config/simulation/measurement_params_sim.yaml new file mode 100644 index 0000000..2e8124b --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/config/simulation/measurement_params_sim.yaml @@ -0,0 +1,3 @@ +base_link2livox_frame: + xyz: "\"0.12 0.0 0.175\"" + rpy: "\"0.0 0.0 0.0\"" \ No newline at end of file diff --git a/src/rm_nav/rm_nav_bringup/config/simulation/nav2_params_sim.yaml b/src/rm_nav/rm_nav_bringup/config/simulation/nav2_params_sim.yaml new file mode 100644 index 0000000..699fb15 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/config/simulation/nav2_params_sim.yaml @@ -0,0 +1,411 @@ +amcl: + ros__parameters: + use_sim_time: False + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 + base_frame_id: "base_link" + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: false + global_frame_id: "map" + lambda_short: 0.1 + laser_likelihood_max_dist: 2.0 + laser_max_range: 100.0 + laser_min_range: -1.0 + laser_model_type: "likelihood_field" + max_beams: 60 + max_particles: 2000 + min_particles: 500 + odom_frame_id: "odom" + pf_err: 0.05 + pf_z: 0.99 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 1 + robot_model_type: "nav2_amcl::OmniMotionModel" + save_pose_rate: 0.5 + sigma_hit: 0.2 + tf_broadcast: true + transform_tolerance: 1.0 + update_min_a: 0.2 + update_min_d: 0.25 + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 + scan_topic: scan + +amcl_map_client: + ros__parameters: + use_sim_time: False + +amcl_rclcpp_node: + ros__parameters: + use_sim_time: False + +bt_navigator: + ros__parameters: + use_sim_time: False + global_frame: map + robot_base_frame: base_link_fake + odom_topic: /Odometry + bt_loop_duration: 10 + default_server_timeout: 20 + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_back_up_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + +controller_server: + ros__parameters: + use_sim_time: False + controller_frequency: 20.0 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.1 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugin: "progress_checker" + goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" + controller_plugins: ["FollowPath"] + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + general_goal_checker: + stateful: True + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 6.28 + FollowPath: + plugin: teb_local_planner::TebLocalPlannerROS + # https://github.com/rst-tu-dortmund/teb_local_planner/tree/ros2-master + + #******************************************************************************* + # Trajectory + #******************************************************************************* + teb_autosize: 1.0 #是否自动调整轨迹大小。根据时间分辨率自动调整轨迹大小 + dt_ref: 0.6 #轨迹的期望时间分辨率（应该与底层控制速率的数量级相符） + dt_hysteresis: 0.06 #自动调整大小的滞后（根据当前时间分辨率 dt）：通常为 dt_ref 的 10% + max_samples: 500 #最大样本数量；警告：如果太小，离散化/分辨率可能不足以用于给定的机器人模型，或者避障不再有效。 + global_plan_overwrite_orientation: False #覆盖全局规划器提供的局部子目标的方向 + allow_init_with_backwards_motion: True #如果为真，基础轨迹可能会以后退运动初始化，以防目标在本地代价地图中位于起点之后（仅当机器人配备后部传感器时推荐） + max_global_plan_lookahead_dist: 2.0 #指定用于优化考虑的全局规划子集的最大长度（累积欧氏距离）[如果 <=0：禁用；长度也受到本地代价地图大小的限制！ + force_reinit_new_goal_dist: 1.0 #如果之前的目标更新距离超过此值，则强制规划器重新初始化轨迹 + force_reinit_new_goal_angular: 0.78 #如果之前的目标更新的角度超过此弧度值，则强制规划器重新初始化轨迹 + feasibility_check_no_poses: 0 #在预测路径上，每个采样间隔需要检查可行性的姿态数目 + feasibility_check_lookahead_distance: 1.5 #每个采样间隔需要检查可行性的距离（以及feasibility_check_no_poses之下的索引）与机器人之间的距离。-1检查所有姿势，直到feasibility_check_no_poses。https://robotics.stackexchange.com/questions/80845/what-are-reasons-for-teb-planners-feasibility-check-to-fail + exact_arc_length: False #如果为真，规划器在速度、加速度和转向率计算中使用准确的弧长 [-> 增加 CPU 时间]，否则使用欧氏近似。 + publish_feedback: False #发布包含完整轨迹和活动障碍物列表的规划器反馈（应仅用于评估或调试目的） + visualize_with_time_as_z_axis_scale: 0.0 #在rviz里可看到优化使用的graph + + #******************************************************************************* + # ViaPoints 中间点 + #******************************************************************************* + global_plan_viapoint_sep: 0.5 #从全局计划中提取的连续中间点之间的最小分离距离 + via_points_ordered: False #是否遵循存储容器中中间点的顺序 + + #******************************************************************************* + # Robot + #******************************************************************************* + max_vel_x: 3.0 #最大平移速度 + max_vel_x_backwards: 3.0 #最大后退速度 + max_vel_theta: 6.0 #最大转向角速度 + acc_lim_x: 4.0 #最大平移加速度 + acc_lim_theta: 6.0 #最大角加速度 + is_footprint_dynamic: False #如果为真，在检查轨迹可行性之前更新足迹 + use_proportional_saturation: False #如果为true，则按比例减少所有扭曲分量（线性x和y以及角度z）（如果任何扭曲分量超过其相应的界限），而不是单独饱和每个扭曲分量 + transform_tolerance: 0.5 #在TF树中查询转换时的容差（秒） + + #******************************************************************************* + # Robot/Carlike 此部分参数仅适用于类似汽车的机器人（如差速驱动机器人） + #******************************************************************************* + # min_turning_radius: 0.0 #机器人的最小转弯半径。对于差速驱动机器人，此值为0 + # wheelbase: 1.0 #驱动轮轴与转向轮轴之间的距离。后轮驱动机器人此值可能为负数。 + # cmd_angle_instead_rotvel: False #是否用转向角代替控制指令消息中的旋转速度（需要结合轴距参数使用） + + #******************************************************************************* + # Robot/Omni 此部分参数仅适用于全方位移动机器人 + #******************************************************************************* + max_vel_y: 3.0 + acc_lim_y: 4.0 + + #******************************************************************************* + # GoalTolerance 目标容差 + #******************************************************************************* + free_goal_vel: False #允许机器人以最大速度驶向目的地，为False时，车到达终点时的目标速度为0； + + #******************************************************************************* + # Obstacles 障碍物 + #******************************************************************************* + min_obstacle_dist: 0.25 #机器人与障碍物之间最小的期望间隔距离 + inflation_dist: 0.6 #障碍物周围的缓冲区，用于增加安全裕度。此缓冲区内具有非零的惩罚代价 + dynamic_obstacle_inflation_dist: 0.7 #具有非零惩罚成本的动态障碍物预测位置周围的缓冲区（应大于min_obstacle_dist才能生效) + include_dynamic_obstacles: True #预测动态障碍物周围的缓冲区，用于增加安全裕度。此缓冲区内具有非零的惩罚代价 + include_costmap_obstacles: True #是否直接考虑代价地图中的障碍物 (如果没有单独的聚类和检测功能，则需要此选项) + legacy_obstacle_association: False #是否严格遵循局部规划出来的路径。如果为真，则使用旧的关联策略 (为每个障碍物找到最近的 TEB 姿势)，否则使用新的关联策略 (为每个 TEB 姿势仅找到“相关”障碍物) + costmap_obstacles_behind_robot_dist: 1.5 #限制规划时考虑的占据局部代价地图障碍物 (指定距离，米)。该值仅对机器人后方的障碍物生效。 + obstacle_poses_affected: 15 #为了减少计算量，障碍物位置会附加到轨迹上最近的姿态上，但也会考虑一定数量的相邻姿态。 + + # costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH" + # costmap_converter_spin_thread: True + # costmap_converter_rate: 10 + + #******************************************************************************* + # Obstacle - Velocity ratio parameters 该组包含用于根据障碍物 proximity 动态调整机器人速度的设置。 + #******************************************************************************* + obstacle_proximity_ratio_max_vel: 1.0 #由于接近静态障碍物而降低速度时用作上限的比率。 + obstacle_proximity_lower_bound: 0.0 #需要降低速度的静态障碍物距离 (米) + obstacle_proximity_upper_bound: 0.5 #应该保持较高速度的静态障碍物距离 (米) + + #******************************************************************************* + # Optimization 优化 + #******************************************************************************* + no_inner_iterations: 5 #在外循环每次迭代中调用求解器迭代的次数 + no_outer_iterations: 4 #外循环每次迭代会自动调整轨迹大小，并使用指定的内部迭代次数调用内部优化器 + optimization_activate: True #启用优化功能 + optimization_verbose: False #打印详细的优化过程信息 + penalty_epsilon: 0.15 #为惩罚函数添加微小的安全裕量，用于处理难以满足的硬性约束条件 + + # 权重参数 + obstacle_cost_exponent: 4.0 + weight_max_vel_x: 2.0 #满足最大允许平移速度的权重 + weight_max_vel_y: 2.0 #满足最大允许横移速度的权重 (仅用于全向移动机器人) + weight_max_vel_theta: 1.0 #满足最大允许角速度的权重 + weight_acc_lim_x: 1.0 #满足最大允许平移加速度的权重 + weight_acc_lim_y: 1.0 #满足最大允许横移加速度的权重 (仅用于全向移动机器人) + weight_acc_lim_theta: 1.0 #满足最大允许角加速度的权重 + weight_kinematics_nh: 0.0 #满足非全向运动学约束的权重 + weight_kinematics_forward_drive: 0.0 #强制机器人仅选择向前运动方向的权重 (仅用于差分驱动机器人) + weight_kinematics_turning_radius: 0.1 #强制最小转弯半径（小车型机器人）的优化权重 + weight_optimaltime: 0.1 #优化轨迹并尽量缩短运动时间的权重，确保在规定的时间内到达目标 + weight_shortest_path: 0.0 #倾向于选择更短的路径，路径可能更加弯曲或不平坦 + weight_obstacle: 100.0 #与障碍物保持最小距离的权重 + weight_inflation: 0.2 #优化轨迹并尽量避免膨胀区域的权重 (权重应设置较小) + weight_dynamic_obstacle: 10.0 #与动态障碍物保持最小距离的权重 + weight_dynamic_obstacle_inflation: 0.2 #优化轨迹并尽量避免动态障碍物膨胀区域的权重 (权重应设置较小) + weight_viapoint: 1.0 #一些特定的权重 (例如 weight_obstacle) 会在外循环每次迭代中乘以该因子进行调整。这样逐步增加权重比直接设置较高的权重值可以改善优化问题的数值条件 + weight_adapt_factor: 2.0 #非线性障碍物代价的指数 (cost = linear_cost * obstacle_cost_exponent)。设置为 1 则禁用非线性代价 (默认值) + + #******************************************************************************* + # Homotopy Class Planner + #******************************************************************************* + enable_homotopy_class_planning: False + enable_multithreading: True #是否启用多线程并行规划多个路径 + max_number_classes: 3 #允许探索的最大替代拓扑类别数 (会增加计算量) + selection_cost_hysteresis: 1.0 + selection_prefer_initial_plan: 1.0 + selection_obst_cost_scale: 1.0 + selection_alternative_time_cost: True + + roadmap_graph_no_samples: 15 #指定为创建路线图而生成的样本数 + roadmap_graph_area_width: 5.0 #指定该区域的宽度 + roadmap_graph_area_length_scale: 1.0 #矩形区域的长度由起点和终点之间的距离决定。该参数会进一步缩放距离，使几何中心保持不变 + h_signature_prescaler: 0.5 #（0.2 < value <= 1）缩放用于区分同伦类的内部参数 + h_signature_threshold: 0.1 #如果实部和复部的差都低于规定的阈值，则假定两个h签名相等。 + obstacle_heading_threshold: 0.45 #为了将障碍物纳入探索范围，需要指定障碍物朝向和目标朝向的归一化点积的阈值 + switching_blocking_period: 0.0 #指定允许切换到新的等效类之前需要终止的持续时间 + viapoints_all_candidates: True #若为真，则所有不同拓扑结构的路径都会附加到路径点集合上，否则只会附加与初始/全局计划共享相同路径点的路径 (在测试优化节点中没有效果) + delete_detours_backwards: True + max_ratio_detours_duration_best_duration: 3.0 + visualize_hc_graph: False #可视化用于探索新拓扑类的图 + + #******************************************************************************* + # Recovery + #******************************************************************************* + #当规划器检测到系统异常，允许缩小时域规划范围,TEB将以更近的点作为规划目标，尝试重新规划出可行路径; + shrink_horizon_backup: True + shrink_horizon_min_duration: 10.0 #如果检测到不可行的轨迹，激活缩小的水平线后备模式，本参数为其最短持续时间。 + oscillation_recovery: True #尝试检测和解决振荡 + oscillation_v_eps: 0.1 #(0,1)内的 normalized 线速度的平均值的阈值，判断机器人是否运动异常 + oscillation_omega_eps: 0.1 #(0,1)内的 normalized 角速度的平均值，判断机器人是否运动异常 + oscillation_recovery_min_duration: 10.0 #在这个时间内，是否再次发生FailureDetector检测的振荡 + oscillation_filter_duration: 10.0 #failure_detector_中buffer容器的大小为oscillation_filter_duration * controller_frequency + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 20.0 + publish_frequency: 10.0 + global_frame: map + robot_base_frame: base_link_fake + use_sim_time: False + rolling_window: true + width: 5 + height: 5 + resolution: 0.02 + robot_radius: 0.2 + plugins: ["obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: true + observation_sources: scan + scan: + topic: /scan + raytrace_max_range: 6.0 + obstacle_max_range: 6.0 + obstacle_min_range: 0.1 + max_obstacle_height: 2.0 + clearing: true + marking: true + inf_is_valid: true + data_type: "LaserScan" + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 5.0 + inflation_radius: 0.6 + always_send_full_costmap: true + +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + global_frame: map + robot_base_frame: base_link_fake + use_sim_time: False + robot_radius: 0.2 + resolution: 0.04 + track_unknown_space: true + plugins: ["static_layer", "stvl_layer", "inflation_layer"] + stvl_layer: + plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer" + # https://github.com/SteveMacenski/spatio_temporal_voxel_layer + enabled: true + voxel_decay: 0.5 # 如果是线性衰减，单位为秒；如果是指数衰减，则为 e 的 n 次方 + decay_model: 0 # 衰减模型，0=线性，1=指数，-1=持久 + voxel_size: 0.05 # 每个体素的尺寸，单位为米 + track_unknown_space: true # default space is unknown + mark_threshold: 0 # voxel height + update_footprint_enabled: true + combination_method: 1 # 1=max, 0=override + origin_z: 0.0 # 单位为米 + publish_voxel_map: true # default false, 是否发布体素地图 + transform_tolerance: 0.2 # 单位为秒 + mapping_mode: false # default off, saves map not for navigation + map_save_duration: 60.0 # default 60s, how often to autosave + observation_sources: livox_mark livox_clear + livox_mark: + data_type: PointCloud2 + topic: /segmentation/obstacle + marking: true + clearing: false + obstacle_range: 3.0 # meters + min_obstacle_height: 0.2 # default 0, meters + max_obstacle_height: 2.0 # default 3, meters + expected_update_rate: 0.0 # default 0, if not updating at this rate at least, remove from buffer + observation_persistence: 0.0 # default 0, use all measurements taken during now-value, 0=latest + inf_is_valid: false # default false, for laser scans + filter: "voxel" # default passthrough, apply "voxel", "passthrough", or no filter to sensor data, recommend on + voxel_min_points: 0 # default 0, minimum points per voxel for voxel filter + clear_after_reading: true # default false, clear the buffer after the layer gets readings from it + livox_clear: + enabled: true # default true, can be toggled on/off with associated service call + data_type: PointCloud2 + topic: /segmentation/obstacle + marking: false + clearing: true + max_z: 8.0 # default 10, meters + min_z: 1.0 # default 0, meters + vertical_fov_angle: 1.029 # 垂直视场角，单位为弧度，For 3D lidars it's the symmetric FOV about the planar axis. + vertical_fov_padding: 0.05 # 3D Lidar only. Default 0, in meters + horizontal_fov_angle: 6.29 # 3D 激光雷达水平视场角 + decay_acceleration: 5.0 # default 0, 1/s^2. + model_type: 1 # 0=深度相机，1=3D激光雷达 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + footprint_clearing_enabled: True + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 8.0 + inflation_radius: 0.7 + always_send_full_costmap: True + +map_saver: + ros__parameters: + use_sim_time: False + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + expected_planner_frequency: 5.0 + use_sim_time: False + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_navfn_planner/NavfnPlanner" + tolerance: 0.5 + use_astar: false + allow_unknown: true + +recoveries_server: + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 2.0 + recovery_plugins: ["spin", "backup"] + spin: + plugin: "nav2_recoveries/Spin" + backup: + plugin: "nav2_recoveries/BackUp" + global_frame: odom + robot_base_frame: base_link_fake + transform_timeout: 0.1 + use_sim_time: False + simulate_ahead_time: 1.0 + max_rotational_vel: 3.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.0 + +map_server: + ros__parameters: + use_sim_time: False + yaml_filename: "" + +velocity_smoother: + ros__parameters: + smoothing_frequency: 20.0 + scale_velocities: False + feedback: "OPEN_LOOP" + max_velocity: [2.0, 2.0, 3.0] + min_velocity: [-2.0, -2.0, -3.0] + deadband_velocity: [0.0, 0.0, 0.0] + velocity_timeout: 1.0 + max_accel: [4.0, 4.0, 6.0] + max_decel: [-4.0, -4.0, -6.0] + odom_topic: "Odometry" + odom_duration: 0.1 \ No newline at end of file diff --git a/src/rm_nav/rm_nav_bringup/config/simulation/pointlio_mid360_sim.yaml b/src/rm_nav/rm_nav_bringup/config/simulation/pointlio_mid360_sim.yaml new file mode 100755 index 0000000..97e1f91 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/config/simulation/pointlio_mid360_sim.yaml @@ -0,0 +1,58 @@ +/**: + ros__parameters: + common: + lid_topic: "/livox/lidar" + imu_topic: "/livox/imu" + con_frame: false # true: if you need to combine several LiDAR frames into one + con_frame_num: 1 # the number of frames combined + cut_frame: false # true: if you need to cut one LiDAR frame into several subframes + cut_frame_time_interval: 0.166666 # should be integral fraction of 1 / LiDAR frequency + time_diff_lidar_to_imu: 0.0 # Time offset between LiDAR and IMU calibrated by other algorithms, e.g., LI-Init (find in Readme) + + preprocess: + lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR + scan_line: 4 + timestamp_unit: 3 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond. + blind: 0.5 + + mapping: + imu_en: true + start_in_aggressive_motion: false # if true, a preknown gravity should be provided in following gravity_init + extrinsic_est_en: false # for aggressive motion, set this variable false + imu_time_inte: 0.01612 # = 1 / frequency of IMU + satu_acc: 3.0 # the saturation value of IMU's acceleration. not related to the units + satu_gyro: 35.0 # the saturation value of IMU's angular velocity. not related to the units + acc_norm: 9.81 # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration + lidar_meas_cov: 0.01 # 0.001 + acc_cov_output: 500.0 + gyr_cov_output: 1000.0 + b_acc_cov: 0.0001 + b_gyr_cov: 0.0001 + imu_meas_acc_cov: 0.6 #0.1 # 2 + imu_meas_omg_cov: 0.6 #0.1 # 2 + gyr_cov_input: 0.01 # for IMU as input model + acc_cov_input: 0.1 # for IMU as input model + plane_thr: 0.1 # 0.05, the threshold for plane criteria, the smaller, the flatter a plane + match_s: 81.0 + fov_degree: 360.0 + det_range: 100.0 + gravity_align: true # true to align the z axis of world frame with the direction of gravity, and the gravity direction should be specified below + gravity: [ 0.0, 0.0, -9.810 ] # [0.0, 9.810, 0.0] # gravity to be aligned + gravity_init: [ 0.0, 0.0, -9.810 ] # [0.0, 9.810, 0.0] # # preknown gravity in the first IMU body frame, use when imu_en is false or start from a non-stationary state + extrinsic_T: [ 0.0, 0.0, 0.05 ] # Simulation + extrinsic_R: [1., 0., 0., + 0., 1., 0., + 0., 0., 1.] + + odometry: + publish_odometry_without_downsample: false + + publish: + path_en: true # false: close the path output + scan_publish_en: true # false: close all the point cloud output + scan_bodyframe_pub_en: false # true: output the point cloud scans in IMU-body-frame + + pcd_save: + pcd_save_en: false + interval: -1 # how many LiDAR frames saved in each pcd file; + # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. \ No newline at end of file diff --git a/src/rm_nav/rm_nav_bringup/config/simulation/segmentation_sim.yaml b/src/rm_nav/rm_nav_bringup/config/simulation/segmentation_sim.yaml new file mode 100644 index 0000000..ca40425 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/config/simulation/segmentation_sim.yaml @@ -0,0 +1,28 @@ +ground_segmentation: + ros__parameters: + n_threads: 4 # number of threads to use. + + r_min: 0.2 # minimum point distance. + r_max: 50 # maximum point distance. + n_bins: 120 # number of radial bins. + n_segments: 360 # number of radial segments. + + max_dist_to_line: 0.1 # maximum vertical distance of point to line to be considered ground. + + sensor_height: 0.275 # SIMULATION sensor height above ground. + min_slope: -0.4 # minimum slope of a ground line. + max_slope: 0.4 # maximum slope of a ground line. + max_fit_error: 0.05 # maximum error of a point during line fit. + long_threshold: 1.0 # distance between points after which they are considered far from each other. + max_long_height: 0.1 # maximum height change to previous point in long line. + max_start_height: 0.5 # maximum difference to estimated ground height to start a new line. + line_search_angle: 0.8 # how far to search in angular direction to find a line [rad]. + + gravity_aligned_frame: "" # Frame which has its z axis aligned with gravity. (Sensor frame if empty.) + + latch: false # latch output topics or not + visualize: false # visualize segmentation result - USE ONLY FOR DEBUGGING + + input_topic: "/livox/lidar/pointcloud" + obstacle_output_topic: "segmentation/obstacle" + ground_output_topic: "segmentation/ground" \ No newline at end of file diff --git a/src/rm_nav/rm_nav_bringup/launch/bringup_real.launch.py b/src/rm_nav/rm_nav_bringup/launch/bringup_real.launch.py new file mode 100644 index 0000000..cb67996 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/launch/bringup_real.launch.py @@ -0,0 +1,370 @@ +import os +import yaml + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, GroupAction, TimerAction +from launch_ros.actions import Node +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, Command +from launch.conditions import LaunchConfigurationEquals, LaunchConfigurationNotEquals, IfCondition + + +def generate_launch_description(): + # Get the launch directory + rm_nav_bringup_dir = get_package_share_directory('rm_nav_bringup') + navigation2_launch_dir = os.path.join(get_package_share_directory('rm_navigation'), 'launch') + + # Create the launch configuration variables + world = LaunchConfiguration('world') + use_sim_time = LaunchConfiguration('use_sim_time') + use_lio_rviz = LaunchConfiguration('lio_rviz') + use_nav_rviz = LaunchConfiguration('nav_rviz') + + ################################ robot_description parameters start ############################### + launch_params = yaml.safe_load(open(os.path.join( + get_package_share_directory('rm_nav_bringup'), 'config', 'reality', 'measurement_params_real.yaml'))) + robot_description = Command(['xacro ', os.path.join( + get_package_share_directory('rm_nav_bringup'), 'urdf', 'sentry_robot_real.xacro'), + ' xyz:=', launch_params['base_link2livox_frame']['xyz'], ' rpy:=', launch_params['base_link2livox_frame']['rpy']]) + ################################# robot_description parameters end ################################ + + ########################## linefit_ground_segementation parameters start ########################## + segmentation_params = os.path.join(rm_nav_bringup_dir, 'config', 'reality', 'segmentation_real.yaml') + ########################## linefit_ground_segementation parameters end ############################ + + #################################### FAST_LIO parameters start #################################### + fastlio_mid360_params = os.path.join(rm_nav_bringup_dir, 'config', 'reality', 'fastlio_mid360_real.yaml') + fastlio_rviz_cfg_dir = os.path.join(rm_nav_bringup_dir, 'rviz', 'fastlio.rviz') + ##################################### FAST_LIO parameters end ##################################### + + ################################### POINT_LIO parameters start #################################### + pointlio_mid360_params = os.path.join(rm_nav_bringup_dir, 'config', 'reality', 'pointlio_mid360_real.yaml') + pointlio_rviz_cfg_dir = os.path.join(rm_nav_bringup_dir, 'rviz', 'pointlio.rviz') + #################################### POINT_LIO parameters end ##################################### + + ################################## slam_toolbox parameters start ################################## + slam_toolbox_map_dir = PathJoinSubstitution([rm_nav_bringup_dir, 'map', world]) + slam_toolbox_localization_file_dir = os.path.join(rm_nav_bringup_dir, 'config', 'reality', 'mapper_params_localization_real.yaml') + slam_toolbox_mapping_file_dir = os.path.join(rm_nav_bringup_dir, 'config', 'reality', 'mapper_params_online_async_real.yaml') + ################################### slam_toolbox parameters end ################################### + + ################################### navigation2 parameters start ################################## + nav2_map_dir = PathJoinSubstitution([rm_nav_bringup_dir, 'map', world]), ".yaml" + nav2_params_file_dir = os.path.join(rm_nav_bringup_dir, 'config', 'reality', 'nav2_params_real.yaml') + ################################### navigation2 parameters end #################################### + + ################################ icp_registration parameters start ################################ + icp_pcd_dir = PathJoinSubstitution([rm_nav_bringup_dir, 'PCD', world]), ".pcd" + icp_registration_params_dir = os.path.join(rm_nav_bringup_dir, 'config', 'simulation', 'icp_registration_sim.yaml') + ################################# icp_registration parameters end ################################# + + ############################# pointcloud_downsampling parameters start ############################ + pointcloud_downsampling_config_dir = os.path.join(rm_nav_bringup_dir, 'config', 'reality', 'pointcloud_downsampling_real.yaml') + ############################# pointcloud_downsampling parameters start ############################ + + ####################### Livox_ros_driver2 parameters start ####################### + xfer_format = 4 # 0-PointCloud2Msg(PointXYZRTL), 1-LivoxCustomMsg, 2-PclPxyziMsg, 3-LivoxImuMsg, 4-AllMsg + multi_topic = 0 # 0-All LiDARs share the same topic, 1-One LiDAR one topic + data_src = 0 # 0-lidar, others-Invalid data src + publish_freq = 10.0 # freqency of publish, 5.0, 10.0, 20.0, 50.0, etc. + output_type = 0 + frame_id = 'livox_frame' + lvx_file_path = '/home/livox/livox_test.lvx' + cmdline_bd_code = 'livox0000000001' + + cur_path = os.path.split(os.path.realpath(__file__))[0] + '/' + cur_config_path = cur_path + '../config' + user_config_path = os.path.join(cur_config_path, 'reality', 'MID360_config.json') + + livox_ros2_params = [ + {"xfer_format": xfer_format}, + {"multi_topic": multi_topic}, + {"data_src": data_src}, + {"publish_freq": publish_freq}, + {"output_data_type": output_type}, + {"frame_id": frame_id}, + {"lvx_file_path": lvx_file_path}, + {"user_config_path": user_config_path}, + {"cmdline_input_bd_code": cmdline_bd_code} + ] + ####################### Livox_ros_driver2 parameters end ######################### + + declare_use_sim_time_cmd = DeclareLaunchArgument( + 'use_sim_time', + default_value='False', + description='Use reality (Gazebo) clock if true') + + declare_use_lio_rviz_cmd = DeclareLaunchArgument( + 'lio_rviz', + default_value='False', + description='Visualize FAST_LIO or Point_LIO cloud_map if true') + + declare_nav_rviz_cmd = DeclareLaunchArgument( + 'nav_rviz', + default_value='True', + description='Visualize navigation2 if true') + + declare_world_cmd = DeclareLaunchArgument( + 'world', + default_value='328', + description='Select world (map file, pcd file, world file share the same name prefix as the this parameter)') + + declare_mode_cmd = DeclareLaunchArgument( + 'mode', + default_value='', + description='Choose mode: nav, mapping') + + declare_LIO_cmd = DeclareLaunchArgument( + 'lio', + default_value='fast_lio', + description='Choose lio alogrithm: fastlio or pointlio') + + declare_localization_cmd = DeclareLaunchArgument( + 'localization', + default_value='', + description='Choose localization method: slam_toolbox, amcl, icp') + + start_robot_state_publisher_cmd = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + parameters=[{ + 'use_sim_time': use_sim_time, + 'robot_description': robot_description + }], + output='screen' + ) + + # Specify the actions + start_livox_ros_driver2_node = Node( + package='livox_ros_driver2', + executable='livox_ros_driver2_node', + name='livox_lidar_publisher', + output='screen', + parameters=livox_ros2_params + ) + + bringup_imu_complementary_filter_node = Node( + package='imu_complementary_filter', + executable='complementary_filter_node', + name='complementary_filter_gain_node', + output='screen', + parameters=[ + {'do_bias_estimation': True}, + {'do_adaptive_gain': True}, + {'use_mag': False}, + {'gain_acc': 0.01}, + {'gain_mag': 0.01}, + ], + remappings=[ + ('/imu/data_raw', '/livox/imu'), + ] + ) + + bringup_linefit_ground_segmentation_node = Node( + package='linefit_ground_segmentation_ros', + executable='ground_segmentation_node', + output='screen', + parameters=[segmentation_params] + ) + + bringup_pointcloud_to_laserscan_node = Node( + package='pointcloud_to_laserscan', executable='pointcloud_to_laserscan_node', + remappings=[('cloud_in', ['/segmentation/obstacle']), + ('scan', ['/scan'])], + parameters=[{ + 'target_frame': 'livox_frame', + 'transform_tolerance': 0.01, + 'min_height': -1.0, + 'max_height': 0.1, + 'angle_min': -3.14159, # -M_PI/2 + 'angle_max': 3.14159, # M_PI/2 + 'angle_increment': 0.0043, # M_PI/360.0 + 'scan_time': 0.3333, + 'range_min': 0.45, + 'range_max': 10.0, + 'use_inf': True, + 'inf_epsilon': 1.0 + }], + name='pointcloud_to_laserscan' + ) + + bringup_LIO_group = GroupAction([ + Node( + package="tf2_ros", + executable="static_transform_publisher", + # Copy from the 'livox_joint' in 'sentry_robot.xacro'. + arguments=[ + # Useless arguments, provided by LIO in publish_odometry() function + # '--x', '0.0', + # '--y', '0.0', + # '--z', '0.0', + # '--roll', '0.0', + # '--pitch', '0.0', + # '--yaw', '0.0', + '--frame-id', 'odom', + '--child-frame-id', 'lidar_odom' + ], + ), + + GroupAction( + condition = LaunchConfigurationEquals('lio', 'fastlio'), + actions=[ + Node( + package='fast_lio', + executable='fastlio_mapping', + parameters=[ + fastlio_mid360_params, + {use_sim_time: use_sim_time} + ], + output='screen' + ), + Node( + package='rviz2', + executable='rviz2', + arguments=['-d', fastlio_rviz_cfg_dir], + condition = IfCondition(use_lio_rviz), + ), + ]), + + GroupAction( + condition = LaunchConfigurationEquals('lio', 'pointlio'), + actions=[ + Node( + package='point_lio', + executable='pointlio_mapping', + name='laserMapping', + output='screen', + parameters=[ + pointlio_mid360_params, + {'use_sim_time': use_sim_time, + 'use_imu_as_input': False, # Change to True to use IMU as input of Point-LIO + 'prop_at_freq_of_imu': True, + 'check_satu': True, + 'init_map_size': 10, + 'point_filter_num': 3, # Options: 1, 3 + 'space_down_sample': True, + 'filter_size_surf': 0.5, # Options: 0.5, 0.3, 0.2, 0.15, 0.1 + 'filter_size_map': 0.5, # Options: 0.5, 0.3, 0.15, 0.1 + 'ivox_nearby_type': 6, # Options: 0, 6, 18, 26 + 'runtime_pos_log_enable': False} + ], + ), + Node( + package='rviz2', + executable='rviz2', + arguments=['-d', pointlio_rviz_cfg_dir], + condition = IfCondition(use_lio_rviz), + ) + ]) + ]) + + start_localization_group = GroupAction( + condition = LaunchConfigurationEquals('mode', 'nav'), + actions=[ + Node( + condition = LaunchConfigurationEquals('localization', 'slam_toolbox'), + package='slam_toolbox', + executable='localization_slam_toolbox_node', + name='slam_toolbox', + parameters=[ + slam_toolbox_localization_file_dir, + {'use_sim_time': use_sim_time, + 'map_file_name': slam_toolbox_map_dir, + 'map_start_pose': [0.0, 0.0, 0.0]} + ], + ), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(navigation2_launch_dir,'localization_amcl_launch.py')), + condition = LaunchConfigurationEquals('localization', 'amcl'), + launch_arguments = { + 'use_sim_time': use_sim_time, + 'params_file': nav2_params_file_dir, + 'map': nav2_map_dir}.items() + ), + + TimerAction( + period=7.0, + actions=[ + Node( + condition=LaunchConfigurationEquals('localization', 'icp'), + package='icp_registration', + executable='icp_registration_node', + output='screen', + parameters=[ + icp_registration_params_dir, + {'use_sim_time': use_sim_time, + 'pcd_path': icp_pcd_dir} + ], + # arguments=['--ros-args', '--log-level', ['icp_registration:=', 'DEBUG']] + ) + ] + ), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(navigation2_launch_dir, 'map_server_launch.py')), + condition = LaunchConfigurationNotEquals('localization', 'slam_toolbox'), + launch_arguments={ + 'use_sim_time': use_sim_time, + 'map': nav2_map_dir, + 'params_file': nav2_params_file_dir, + 'container_name': 'nav2_container'}.items()) + ] + ) + + # bringup_fake_vel_transform_node = Node( + # package='fake_vel_transform', + # executable='fake_vel_transform_node', + # output='screen', + # parameters=[{ + # 'use_sim_time': use_sim_time, + # 'spin_speed': 0.0 # rad/s + # }] + # ) + + start_mapping = Node( + condition = LaunchConfigurationEquals('mode', 'mapping'), + package='slam_toolbox', + executable='async_slam_toolbox_node', + name='slam_toolbox', + parameters=[ + slam_toolbox_mapping_file_dir, + {'use_sim_time': use_sim_time,} + ], + ) + + start_navigation2 = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(navigation2_launch_dir, 'bringup_rm_navigation.py')), + launch_arguments={ + 'use_sim_time': use_sim_time, + 'map': nav2_map_dir, + 'params_file': nav2_params_file_dir, + 'nav_rviz': use_nav_rviz}.items() + ) + + ld = LaunchDescription() + + # Declare the launch options + ld.add_action(declare_use_sim_time_cmd) + ld.add_action(declare_use_lio_rviz_cmd) + ld.add_action(declare_nav_rviz_cmd) + ld.add_action(declare_world_cmd) + ld.add_action(declare_mode_cmd) + ld.add_action(declare_localization_cmd) + ld.add_action(declare_LIO_cmd) + + ld.add_action(start_robot_state_publisher_cmd) + ld.add_action(start_livox_ros_driver2_node) + ld.add_action(bringup_imu_complementary_filter_node) + ld.add_action(bringup_linefit_ground_segmentation_node) + ld.add_action(bringup_pointcloud_to_laserscan_node) + ld.add_action(bringup_LIO_group) + ld.add_action(start_localization_group) + # ld.add_action(bringup_fake_vel_transform_node) + ld.add_action(start_mapping) + ld.add_action(start_navigation2) + + return ld diff --git a/src/rm_nav/rm_nav_bringup/launch/bringup_sim.launch.py b/src/rm_nav/rm_nav_bringup/launch/bringup_sim.launch.py new file mode 100644 index 0000000..4f3d4ec --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/launch/bringup_sim.launch.py @@ -0,0 +1,331 @@ +import os +import yaml + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, GroupAction, TimerAction +from launch_ros.actions import Node +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, Command +from launch.conditions import LaunchConfigurationEquals, LaunchConfigurationNotEquals, IfCondition + +def generate_launch_description(): + # Get the launch directory + rm_nav_bringup_dir = get_package_share_directory('rm_nav_bringup') + pb_rm_simulation_launch_dir = os.path.join(get_package_share_directory('pb_rm_simulation'), 'launch') + navigation2_launch_dir = os.path.join(get_package_share_directory('rm_navigation'), 'launch') + + # Create the launch configuration variables + world = LaunchConfiguration('world') + use_sim_time = LaunchConfiguration('use_sim_time') + use_lio_rviz = LaunchConfiguration('lio_rviz') + use_nav_rviz = LaunchConfiguration('nav_rviz') + + ################################ robot_description parameters start ############################### + launch_params = yaml.safe_load(open(os.path.join( + get_package_share_directory('rm_nav_bringup'), 'config', 'simulation', 'measurement_params_sim.yaml'))) + robot_description = Command(['xacro ', os.path.join( + get_package_share_directory('rm_nav_bringup'), 'urdf', 'sentry_robot_sim.xacro'), + ' xyz:=', launch_params['base_link2livox_frame']['xyz'], ' rpy:=', launch_params['base_link2livox_frame']['rpy']]) + ################################# robot_description parameters end ################################ + + ########################## linefit_ground_segementation parameters start ########################## + segmentation_params = os.path.join(rm_nav_bringup_dir, 'config', 'simulation', 'segmentation_sim.yaml') + ########################## linefit_ground_segementation parameters end ############################ + + #################################### FAST_LIO parameters start #################################### + fastlio_mid360_params = os.path.join(rm_nav_bringup_dir, 'config', 'simulation', 'fastlio_mid360_sim.yaml') + fastlio_rviz_cfg_dir = os.path.join(rm_nav_bringup_dir, 'rviz', 'fastlio.rviz') + ##################################### FAST_LIO parameters end ##################################### + + ################################### POINT_LIO parameters start #################################### + pointlio_mid360_params = os.path.join(rm_nav_bringup_dir, 'config', 'simulation', 'pointlio_mid360_sim.yaml') + pointlio_rviz_cfg_dir = os.path.join(rm_nav_bringup_dir, 'rviz', 'pointlio.rviz') + #################################### POINT_LIO parameters end ##################################### + + ################################## slam_toolbox parameters start ################################## + slam_toolbox_map_dir = PathJoinSubstitution([rm_nav_bringup_dir, 'map', world]) + slam_toolbox_localization_file_dir = os.path.join(rm_nav_bringup_dir, 'config', 'simulation', 'mapper_params_localization_sim.yaml') + slam_toolbox_mapping_file_dir = os.path.join(rm_nav_bringup_dir, 'config', 'simulation', 'mapper_params_online_async_sim.yaml') + ################################### slam_toolbox parameters end ################################### + + ################################### navigation2 parameters start ################################## + nav2_map_dir = PathJoinSubstitution([rm_nav_bringup_dir, 'map', world]), ".yaml" + nav2_params_file_dir = os.path.join(rm_nav_bringup_dir, 'config', 'simulation', 'nav2_params_sim.yaml') + ################################### navigation2 parameters end #################################### + + ################################ icp_registration parameters start ################################ + icp_pcd_dir = PathJoinSubstitution([rm_nav_bringup_dir, 'PCD', world]), ".pcd" + icp_registration_params_dir = os.path.join(rm_nav_bringup_dir, 'config', 'simulation', 'icp_registration_sim.yaml') + ################################# icp_registration parameters end ################################# + + ############################# pointcloud_downsampling parameters start ############################ + pointcloud_downsampling_config_dir = os.path.join(rm_nav_bringup_dir, 'config', 'simulation', 'pointcloud_downsampling_sim.yaml') + ############################# pointcloud_downsampling parameters start ############################ + + # Declare launch options + declare_use_sim_time_cmd = DeclareLaunchArgument( + 'use_sim_time', + default_value='True', + description='Use simulation (Gazebo) clock if true') + + declare_use_lio_rviz_cmd = DeclareLaunchArgument( + 'lio_rviz', + default_value='False', + description='Visualize FAST_LIO or Point_LIO cloud_map if true') + + declare_nav_rviz_cmd = DeclareLaunchArgument( + 'nav_rviz', + default_value='True', + description='Visualize navigation2 if true') + + declare_world_cmd = DeclareLaunchArgument( + 'world', + default_value='RMUL', + description='Select world (map file, pcd file, world file share the same name prefix as the this parameter)') + + declare_mode_cmd = DeclareLaunchArgument( + 'mode', + default_value='', + description='Choose mode: nav, mapping') + + declare_localization_cmd = DeclareLaunchArgument( + 'localization', + default_value='', + description='Choose localization method: slam_toolbox, amcl, icp') + + declare_LIO_cmd = DeclareLaunchArgument( + 'lio', + default_value='fast_lio', + description='Choose lio alogrithm: fastlio or pointlio') + + # Specify the actions + start_rm_simulation = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(pb_rm_simulation_launch_dir, 'rm_simulation.launch.py')), + launch_arguments={ + 'use_sim_time': use_sim_time, + 'world': world, + 'robot_description': robot_description, + 'rviz': 'False'}.items() + ) + + bringup_imu_complementary_filter_node = Node( + package='imu_complementary_filter', + executable='complementary_filter_node', + name='complementary_filter_gain_node', + output='screen', + parameters=[ + {'do_bias_estimation': True}, + {'do_adaptive_gain': True}, + {'use_mag': False}, + {'gain_acc': 0.01}, + {'gain_mag': 0.01}, + ], + remappings=[ + ('/imu/data_raw', '/livox/imu'), + ] + ) + + bringup_linefit_ground_segmentation_node = Node( + package='linefit_ground_segmentation_ros', + executable='ground_segmentation_node', + output='screen', + parameters=[segmentation_params] + ) + + bringup_pointcloud_to_laserscan_node = Node( + package='pointcloud_to_laserscan', executable='pointcloud_to_laserscan_node', + remappings=[('cloud_in', ['/segmentation/obstacle']), + ('scan', ['/scan'])], + parameters=[{ + 'target_frame': 'livox_frame', + 'transform_tolerance': 0.01, + 'min_height': -1.0, + 'max_height': 0.1, + 'angle_min': -3.14159, # -M_PI/2 + 'angle_max': 3.14159, # M_PI/2 + 'angle_increment': 0.0043, # M_PI/360.0 + 'scan_time': 0.3333, + 'range_min': 0.45, + 'range_max': 10.0, + 'use_inf': True, + 'inf_epsilon': 1.0 + }], + name='pointcloud_to_laserscan' + ) + + bringup_LIO_group = GroupAction([ + Node( + package="tf2_ros", + executable="static_transform_publisher", + arguments=[ + # Useless arguments, provided by LIO in publish_odometry() function + # '--x', '0.0', + # '--y', '0.0', + # '--z', '0.0', + # '--roll', '0.0', + # '--pitch', '0.0', + # '--yaw', '0.0', + '--frame-id', 'odom', + '--child-frame-id', 'lidar_odom' + ], + ), + + GroupAction( + condition = LaunchConfigurationEquals('lio', 'fastlio'), + actions=[ + Node( + package='fast_lio', + executable='fastlio_mapping', + parameters=[ + fastlio_mid360_params, + {use_sim_time: use_sim_time} + ], + output='screen' + ), + Node( + package='rviz2', + executable='rviz2', + arguments=['-d', fastlio_rviz_cfg_dir], + condition = IfCondition(use_lio_rviz), + ), + ]), + + GroupAction( + condition = LaunchConfigurationEquals('lio', 'pointlio'), + actions=[ + Node( + package='point_lio', + executable='pointlio_mapping', + name='laserMapping', + output='screen', + parameters=[ + pointlio_mid360_params, + {'use_sim_time': use_sim_time, + 'use_imu_as_input': False, # Change to True to use IMU as input of Point-LIO + 'prop_at_freq_of_imu': True, + 'check_satu': False, + 'init_map_size': 10, + 'point_filter_num': 3, # Options: 1, 3 + 'space_down_sample': True, + 'filter_size_surf': 0.5, # Options: 0.5, 0.3, 0.2, 0.15, 0.1 + 'filter_size_map': 0.5, # Options: 0.5, 0.3, 0.15, 0.1 + 'ivox_nearby_type': 26, # Options: 0, 6, 18, 26 + 'runtime_pos_log_enable': False} + ], + ), + Node( + package='rviz2', + executable='rviz2', + arguments=['-d', pointlio_rviz_cfg_dir], + condition = IfCondition(use_lio_rviz), + ) + ]) + ]) + + start_localization_group = GroupAction( + condition = LaunchConfigurationEquals('mode', 'nav'), + actions=[ + Node( + condition = LaunchConfigurationEquals('localization', 'slam_toolbox'), + package='slam_toolbox', + executable='localization_slam_toolbox_node', + name='slam_toolbox', + parameters=[ + slam_toolbox_localization_file_dir, + {'use_sim_time': use_sim_time, + 'map_file_name': slam_toolbox_map_dir, + 'map_start_pose': [0.0, 0.0, 0.0]} + ], + ), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(navigation2_launch_dir,'localization_amcl_launch.py')), + condition = LaunchConfigurationEquals('localization', 'amcl'), + launch_arguments = { + 'use_sim_time': use_sim_time, + 'params_file': nav2_params_file_dir}.items() + ), + + TimerAction( + period=7.0, + actions=[ + Node( + condition=LaunchConfigurationEquals('localization', 'icp'), + package='icp_registration', + executable='icp_registration_node', + output='screen', + parameters=[ + icp_registration_params_dir, + {'use_sim_time': use_sim_time, + 'pcd_path': icp_pcd_dir} + ], + # arguments=['--ros-args', '--log-level', ['icp_registration:=', 'DEBUG']] + ) + ] + ), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(navigation2_launch_dir, 'map_server_launch.py')), + condition = LaunchConfigurationNotEquals('localization', 'slam_toolbox'), + launch_arguments={ + 'use_sim_time': use_sim_time, + 'map': nav2_map_dir, + 'params_file': nav2_params_file_dir, + 'container_name': 'nav2_container'}.items()) + ] + ) + + bringup_fake_vel_transform_node = Node( + package='fake_vel_transform', + executable='fake_vel_transform_node', + output='screen', + parameters=[{ + 'use_sim_time': use_sim_time, + 'spin_speed': 5.0 # rad/s + }] + ) + + start_mapping = Node( + condition = LaunchConfigurationEquals('mode', 'mapping'), + package='slam_toolbox', + executable='async_slam_toolbox_node', + name='slam_toolbox', + parameters=[ + slam_toolbox_mapping_file_dir, + {'use_sim_time': use_sim_time,} + ], + ) + + start_navigation2 = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(navigation2_launch_dir, 'bringup_rm_navigation.py')), + launch_arguments={ + 'use_sim_time': use_sim_time, + 'map': nav2_map_dir, + 'params_file': nav2_params_file_dir, + 'nav_rviz': use_nav_rviz}.items() + ) + + ld = LaunchDescription() + + # Declare the launch options + ld.add_action(declare_use_sim_time_cmd) + ld.add_action(declare_use_lio_rviz_cmd) + ld.add_action(declare_nav_rviz_cmd) + ld.add_action(declare_world_cmd) + ld.add_action(declare_mode_cmd) + ld.add_action(declare_localization_cmd) + ld.add_action(declare_LIO_cmd) + + ld.add_action(start_rm_simulation) + ld.add_action(bringup_imu_complementary_filter_node) + ld.add_action(bringup_linefit_ground_segmentation_node) + ld.add_action(bringup_pointcloud_to_laserscan_node) + ld.add_action(bringup_LIO_group) + ld.add_action(start_localization_group) + ld.add_action(bringup_fake_vel_transform_node) + ld.add_action(start_mapping) + ld.add_action(start_navigation2) + + return ld diff --git a/src/rm_nav/rm_nav_bringup/map/C.data b/src/rm_nav/rm_nav_bringup/map/C.data new file mode 100644 index 0000000..7201d79 Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/map/C.data differ diff --git a/src/rm_nav/rm_nav_bringup/map/C.pgm b/src/rm_nav/rm_nav_bringup/map/C.pgm new file mode 100644 index 0000000..e7a0394 Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/map/C.pgm differ diff --git a/src/rm_nav/rm_nav_bringup/map/C.posegraph b/src/rm_nav/rm_nav_bringup/map/C.posegraph new file mode 100644 index 0000000..fc3e77d Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/map/C.posegraph differ diff --git a/src/rm_nav/rm_nav_bringup/map/C.yaml b/src/rm_nav/rm_nav_bringup/map/C.yaml new file mode 100644 index 0000000..c9b4a4d --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/map/C.yaml @@ -0,0 +1,7 @@ +image: C.pgm +mode: trinary +resolution: 0.05 +origin: [-4.12, -8.39, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 \ No newline at end of file diff --git a/src/rm_nav/rm_nav_bringup/map/C_ROOM.pgm b/src/rm_nav/rm_nav_bringup/map/C_ROOM.pgm new file mode 100644 index 0000000..f090cff Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/map/C_ROOM.pgm differ diff --git a/src/rm_nav/rm_nav_bringup/map/C_ROOM.posegraph b/src/rm_nav/rm_nav_bringup/map/C_ROOM.posegraph new file mode 100644 index 0000000..9ea2340 Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/map/C_ROOM.posegraph differ diff --git a/src/rm_nav/rm_nav_bringup/map/C_ROOM.yaml b/src/rm_nav/rm_nav_bringup/map/C_ROOM.yaml new file mode 100644 index 0000000..6e49f49 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/map/C_ROOM.yaml @@ -0,0 +1,7 @@ +image: C_ROOM.pgm +mode: trinary +resolution: 0.05 +origin: [-4.76, -7.91, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 \ No newline at end of file diff --git a/src/rm_nav/rm_nav_bringup/map/RMUC.data b/src/rm_nav/rm_nav_bringup/map/RMUC.data new file mode 100644 index 0000000..2e38b1e Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/map/RMUC.data differ diff --git a/src/rm_nav/rm_nav_bringup/map/RMUC.pgm b/src/rm_nav/rm_nav_bringup/map/RMUC.pgm new file mode 100644 index 0000000..f06c710 Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/map/RMUC.pgm differ diff --git a/src/rm_nav/rm_nav_bringup/map/RMUC.posegraph b/src/rm_nav/rm_nav_bringup/map/RMUC.posegraph new file mode 100644 index 0000000..7c2a704 Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/map/RMUC.posegraph differ diff --git a/src/rm_nav/rm_nav_bringup/map/RMUC.yaml b/src/rm_nav/rm_nav_bringup/map/RMUC.yaml new file mode 100644 index 0000000..6f3c396 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/map/RMUC.yaml @@ -0,0 +1,7 @@ +image: RMUC.pgm +mode: trinary +resolution: 0.05 +origin: [-6.35, -7.6, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 \ No newline at end of file diff --git a/src/rm_nav/rm_nav_bringup/map/RMUL.data b/src/rm_nav/rm_nav_bringup/map/RMUL.data new file mode 100644 index 0000000..00fab12 Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/map/RMUL.data differ diff --git a/src/rm_nav/rm_nav_bringup/map/RMUL.pgm b/src/rm_nav/rm_nav_bringup/map/RMUL.pgm new file mode 100644 index 0000000..cb5816b Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/map/RMUL.pgm differ diff --git a/src/rm_nav/rm_nav_bringup/map/RMUL.posegraph b/src/rm_nav/rm_nav_bringup/map/RMUL.posegraph new file mode 100644 index 0000000..10e00fc Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/map/RMUL.posegraph differ diff --git a/src/rm_nav/rm_nav_bringup/map/RMUL.yaml b/src/rm_nav/rm_nav_bringup/map/RMUL.yaml new file mode 100644 index 0000000..aac51a0 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/map/RMUL.yaml @@ -0,0 +1,7 @@ +image: RMUL.pgm +mode: trinary +resolution: 0.05 +origin: [-3.75, -4.54, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 \ No newline at end of file diff --git a/src/rm_nav/rm_nav_bringup/map/UL.pgm b/src/rm_nav/rm_nav_bringup/map/UL.pgm new file mode 100644 index 0000000..5c6de00 Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/map/UL.pgm differ diff --git a/src/rm_nav/rm_nav_bringup/map/UL.yaml b/src/rm_nav/rm_nav_bringup/map/UL.yaml new file mode 100644 index 0000000..b9d6176 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/map/UL.yaml @@ -0,0 +1,7 @@ +image: UL.pgm +mode: trinary +resolution: 0.05 +origin: [-7.41, -14.7, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 \ No newline at end of file diff --git a/src/rm_nav/rm_nav_bringup/map/rmul_2025.pgm b/src/rm_nav/rm_nav_bringup/map/rmul_2025.pgm new file mode 100644 index 0000000..f1d0f4c Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/map/rmul_2025.pgm differ diff --git a/src/rm_nav/rm_nav_bringup/map/rmul_2025.yaml b/src/rm_nav/rm_nav_bringup/map/rmul_2025.yaml new file mode 100644 index 0000000..9de1866 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/map/rmul_2025.yaml @@ -0,0 +1,7 @@ +image: rmul_2025.pgm +mode: trinary +resolution: 0.05 +origin: [-1.25, -7.55, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 diff --git a/src/rm_nav/rm_nav_bringup/package.xml b/src/rm_nav/rm_nav_bringup/package.xml new file mode 100644 index 0000000..d5c2131 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/package.xml @@ -0,0 +1,18 @@ + + + + rm_nav_bringup + 0.0.0 + TODO: Package description + Lihan Chen + MIT + Lihan Chen + + ament_cmake + + rviz2 + + + ament_cmake + + diff --git a/src/rm_nav/rm_nav_bringup/rviz/fastlio.rviz b/src/rm_nav/rm_nav_bringup/rviz/fastlio.rviz new file mode 100644 index 0000000..467dd5c --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/rviz/fastlio.rviz @@ -0,0 +1,305 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /CloudMap1 + Splitter Ratio: 0.5 + Tree Height: 549 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: CloudMap +Visualization Manager: + Class: "" + Displays: + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + livox_frame: + Value: true + odom: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + odom: + livox_frame: + {} + Update Interval: 0 + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz_default_plugins/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 100 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /Odometry + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /path + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 3.6277356147766113 + Min Value: -0.9040128588676453 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 30 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 186 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: CloudRegistered + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cloud_registered + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 184 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: CloudEffected + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cloud_effected + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 2.9017436504364014 + Min Value: -2.2115612030029297 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 255 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: CloudMap + Position Transformer: XYZ + Selectable: true + Size (Pixels): 1 + Size (m): 0.05000000074505806 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /Laser_map + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 0; 0; 0 + Fixed Frame: odom + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 13.142322540283203 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.008504047989845276 + Y: -0.0005770106799900532 + Z: 0.034441977739334106 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.9397971630096436 + Target Frame: + Value: Orbit (rviz_default_plugins) + Yaw: 4.408558368682861 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1453 + X: 368 + Y: 104 diff --git a/src/rm_nav/rm_nav_bringup/rviz/pointlio.rviz b/src/rm_nav/rm_nav_bringup/rviz/pointlio.rviz new file mode 100755 index 0000000..e0ec320 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/rviz/pointlio.rviz @@ -0,0 +1,335 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /CloudRegistered1 + Splitter Ratio: 0.5 + Tree Height: 549 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: CloudRegistered +Visualization Manager: + Class: "" + Displays: + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + base_link_fake: + Value: true + imu_link: + Value: true + livox_frame: + Value: true + map: + Value: true + odom: + Value: true + wheel_1: + Value: true + wheel_2: + Value: true + wheel_3: + Value: true + wheel_4: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + map: + {} + odom: + base_link: + base_link_fake: + {} + imu_link: + {} + livox_frame: + {} + wheel_1: + {} + wheel_2: + {} + wheel_3: + {} + wheel_4: + {} + Update Interval: 0 + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz_default_plugins/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 100 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /aft_mapped_to_init + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /path + Value: true + - Alpha: 0.6000000238418579 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 13.2266845703125 + Min Value: -0.19345740973949432 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 30 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 186 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: CloudRegistered + Position Transformer: XYZ + Selectable: true + Size (Pixels): 1 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cloud_registered + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 184 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: CloudEffected + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cloud_effected + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 2.036320447921753 + Min Value: -0.09378375858068466 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 255 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: CloudMap + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /Laser_map + Use Fixed Frame: true + Use rainbow: true + Value: false + Enabled: true + Global Options: + Background Color: 0; 0; 0 + Fixed Frame: odom + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 15.3889799118042 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 2.570868730545044 + Y: 0.5283783674240112 + Z: 1.2330546379089355 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.044796347618103 + Target Frame: + Value: Orbit (rviz_default_plugins) + Yaw: 2.370389699935913 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1453 + X: 1602 + Y: 250 diff --git a/src/rm_nav/rm_nav_bringup/urdf/sentry_robot_real.xacro b/src/rm_nav/rm_nav_bringup/urdf/sentry_robot_real.xacro new file mode 100644 index 0000000..e934569 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/urdf/sentry_robot_real.xacro @@ -0,0 +1,162 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.5 + 0.5 + + + + + + + + + + + + + + + + + 0.5 + 0.5 + + + + + + + + + + + + + + + + + 0.5 + 0.5 + + + + + + + + + + + + + + + + + 0.5 + 0.5 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/rm_nav/rm_nav_bringup/urdf/sentry_robot_sim.xacro b/src/rm_nav/rm_nav_bringup/urdf/sentry_robot_sim.xacro new file mode 100644 index 0000000..e3f56f7 --- /dev/null +++ b/src/rm_nav/rm_nav_bringup/urdf/sentry_robot_sim.xacro @@ -0,0 +1,259 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.5 + 0.5 + + + + + + + + + + + + + + + + + 0.5 + 0.5 + + + + + + + + + + + + + + + + + 0.5 + 0.5 + + + + + + + + + + + + + + + + + 0.5 + 0.5 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Orange + + + Gazebo/Red + + + Gazebo/Black + + + Gazebo/Red + + + Gazebo/Black + + + Gazebo/BuildingFrame + + + Gazebo/LightBlueLaser + + + + + + + + + / + + cmd_vel:=cmd_vel_chassis + odom:=odom + + + + 100 + + 10 + + + false + false + + + odom + base_link + + + 0.0001 + 0.0001 + 0.01 + + + + + + + + true + 100 + + + / + ~/out:=/livox/imu + + imu_link + + + + + + + + + + + diff --git a/src/rm_nav/rm_navigation/costmap_converter/.gitlab-ci.yml b/src/rm_nav/rm_navigation/costmap_converter/.gitlab-ci.yml new file mode 100644 index 0000000..9833056 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/.gitlab-ci.yml @@ -0,0 +1,23 @@ +build-kinetic: + variables: + ROSDISTRO: "kinetic" + CATKIN_WS: "/root/catkin_ws" + stage: build + image: osrf/ros:$ROSDISTRO-desktop-full + before_script: + - apt-get -qq update + - apt-get -qq install git-core python-catkin-tools curl + - mkdir -p $CATKIN_WS/src + - cp -a . $CATKIN_WS/src/ + - cd $CATKIN_WS + - rosdep update + - rosdep install -y --from-paths src --ignore-src --rosdistro $ROSDISTRO --as-root=apt:false + script: + - source /ros_entrypoint.sh + - cd $CATKIN_WS + - catkin build -i -s --no-status + only: + - master + tags: + - ubuntu + - docker \ No newline at end of file diff --git a/src/rm_nav/rm_navigation/costmap_converter/.travis.yml b/src/rm_nav/rm_navigation/costmap_converter/.travis.yml new file mode 100644 index 0000000..dfa1f14 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/.travis.yml @@ -0,0 +1,109 @@ +# Generic .travis.yml file for running continuous integration on Travis-CI with +# any ROS package. +# +# This installs ROS on a clean Travis-CI virtual machine, creates a ROS +# workspace, resolves all listed dependencies, and sets environment variables +# (setup.bash). Then, it compiles the entire ROS workspace (ensuring there are +# no compilation errors), and runs all the tests. If any of the compilation/test +# phases fail, the build is marked as a failure. +# +# We handle two types of package dependencies: +# - packages (ros and otherwise) available through apt-get. These are installed +# using rosdep, based on the information in the ROS package.xml. +# - dependencies that must be checked out from source. These are handled by +# 'wstool', and should be listed in a file named dependencies.rosinstall. +# +# There are two variables you may want to change: +# - ROS_DISTRO (default is indigo). Note that packages must be available for +# ubuntu 14.04 trusty. +# - ROSINSTALL_FILE (default is dependencies.rosinstall inside the repo +# root). This should list all necessary repositories in wstool format (see +# the ros wiki). If the file does not exists then nothing happens. +# +# See the README.md for more information. +# +# Author: Felix Duvallet + +# NOTE: The build lifecycle on Travis.ci is something like this: +# before_install +# install +# before_script +# script +# after_success or after_failure +# after_script +# OPTIONAL before_deploy +# OPTIONAL deploy +# OPTIONAL after_deploy + +################################################################################ + +# Use ubuntu trusty (14.04) with sudo privileges. +dist: trusty +sudo: required +language: + - generic +cache: + - apt + +# Configuration variables. All variables are global now, but this can be used to +# trigger a build matrix for different ROS distributions if desired. +env: + global: + - ROS_CI_DESKTOP="`lsb_release -cs`" # e.g. [precise|trusty|...] + - CI_SOURCE_PATH=$(pwd) + - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall + - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options + - ROS_PARALLEL_JOBS='-j8 -l6' + matrix: + - ROS_DISTRO=indigo + - ROS_DISTRO=jade + + +################################################################################ + +# Install system dependencies, namely a very barebones ROS setup. +before_install: + - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" + - wget http://packages.ros.org/ros.key -O - | sudo apt-key add - + - sudo apt-get update -qq + - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin + - source /opt/ros/$ROS_DISTRO/setup.bash + # Prepare rosdep to install dependencies. + - sudo rosdep init + - rosdep update + +# Create a catkin workspace with the package under integration. +install: + - mkdir -p ~/catkin_ws/src + - cd ~/catkin_ws/src + - catkin_init_workspace + # Create the devel/setup.bash (run catkin_make with an empty workspace) and + # source it to set the path variables. + - cd ~/catkin_ws + - catkin_make + - source devel/setup.bash + # Add the package under integration to the workspace using a symlink. + - cd ~/catkin_ws/src + - ln -s $CI_SOURCE_PATH . + +# Install all dependencies, using wstool and rosdep. +# wstool looks for a ROSINSTALL_FILE defined in the environment variables. +before_script: + # source dependencies: install using wstool. + - cd ~/catkin_ws/src + - wstool init + - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi + - wstool up + # package depdencies: install using rosdep. + - cd ~/catkin_ws + - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO + +# Compile and test. If the CATKIN_OPTIONS file exists, use it as an argument to +# catkin_make. +script: + - cd ~/catkin_ws + - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS ) + # Testing: Use both run_tests (to see the output) and test (to error out). + - catkin_make run_tests # This always returns 0, but looks pretty. + - catkin_make test # This will return non-zero if a test fails. + diff --git a/src/rm_nav/rm_navigation/costmap_converter/README.md b/src/rm_nav/rm_navigation/costmap_converter/README.md new file mode 100644 index 0000000..5028ed4 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/README.md @@ -0,0 +1,30 @@ +costmap_converter ROS Package +============================= + +A ros package that includes plugins and nodes to convert occupied costmap2d cells to primitive types + +Build status of the *master* branch: +- ROS Buildfarm Kinetic: [![Kinetic Build Status](http://build.ros.org/buildStatus/icon?job=Kdev__costmap_converter__ubuntu_xenial_amd64)](http://build.ros.org/job/Kdev__costmap_converter__ubuntu_xenial_amd64/) +- ROS Buildfarm Indigo: [![Indigo Build Status](http://build.ros.org/buildStatus/icon?job=Idev__costmap_converter__ubuntu_trusty_amd64)](http://build.ros.org/job/Idev__costmap_converter__ubuntu_trusty_amd64/) + + +### Contributors + +- Christoph Rösmann +- Franz Albers (*CostmapToDynamicObstacles* plugin) +- Otniel Rinaldo + + +### License + +The *costmap_converter* package is licensed under the BSD license. +It depends on other ROS packages, which are listed in the package.xml. They are also BSD licensed. + +Some third-party dependencies are included that are licensed under different terms: + - *MultitargetTracker*, GNU GPLv3, https://github.com/Smorodov/Multitarget-tracker + (partially required for the *CostmapToDynamicObstacles* plugin) + +All packages included are distributed in the hope that they will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the licenses for more details. + + + diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/CHANGELOG.rst b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/CHANGELOG.rst new file mode 100644 index 0000000..0b7e1b5 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/CHANGELOG.rst @@ -0,0 +1,105 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package costmap_converter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.1.2 (2020-06-22) +------------------ +* OpenCV 4 compatibility fix +* Contributors: daviddudas + +0.1.1 (2020-01-25) +------------------ +* Fixed ament plugin export +* Revert release-mode for cmake build +* Contributors: Christoph Rösmann + +0.1.0 (2020-01-23) +------------------ +* Port to ROS2 (thanks to Vinnam Kim and stevemacenski) +* Messages moved to a separate package +* Contributors: Christoph Rösmann, Vinnam Kim, stevemacenski + +0.0.12 (2019-12-02) +------------------- +* CostmapToPolygons: Simplification of the polygon by Douglas-Peucker algorithm (reduces the density of points in the polygon). +* Bugfixes +* Contributors: Rainer Kümmerle + +0.0.11 (2019-10-26) +------------------- +* rostest integration to avoid running a roscore separately for unit testing +* Contributors: Christoph Rösmann + +0.0.10 (2019-10-26) +------------------- +* Runtime improvements for CostmapToPolygonsDBSMCCH (`#12 `_) + * Grid lookup for regionQuery + * use a grid structure for looking up nearest neighbors + * parameters in a struct + * guard the parameters by drawing a copy from dynamic reconfigure + * Adding some test cases for regionQuery and dbScan + * Avoid computing sqrt at the end of convexHull2 + * Add doxygen comments for the neighbor lookup + * Change the param read to one liners + * Add test on empty map for dbScan +* Contributors: Rainer Kümmerle + +0.0.9 (2018-05-28) +------------------ +* Moved plugin loader for static costmap conversion to BaseCostmapToDynamicObstacles. + The corresponding ROS parameter `static_converter_plugin` is now defined in the CostmapToDynamicObstacles namespace. +* Contributors: Christoph Rösmann + +0.0.8 (2018-05-17) +------------------ +* Standalone converter subscribes now to costmap updates. Fixes `#1 `_ +* Adds radius field for circular obstacles to ObstacleMsg +* Stacked costmap conversion (`#7 `_). + E.g., it is now possible combine a dynamic obstacle and static obstacle converter plugin. +* Contributors: Christoph Rösmann, Franz Albers + +0.0.7 (2017-09-20) +------------------ +* Fixed some compilation issues (C++11 compiler flags and opencv2 on indigo/jade). +* Dynamic obstacle plugin: obstacle velocity is now published for both x and y coordinates rather than the absolute value + +0.0.6 (2017-09-18) +------------------ +* This pull request adds the costmap to dynamic obstacles plugin (written by Franz Albers). + It detects the dynamic foreground of the costmap (based on the temporal evolution of the costmap) + including blobs representing the obstacles. Furthermore, Kalman-based tracking is applied to estimate + the current velocity for each obstacle. + **Note, this plugin is still experimental.** +* New message types are introduced: costmap\_converter::ObstacleMsg and costmap\_converter::ObstacleArrayMsg. + These types extend the previous polygon representation by additional velocity, orientation and id information. +* The API has been extended to provide obstacles via the new ObstacleArrayMsg type instead of vector of polygons. +* Contributors: Franz Albers, Christoph Rösmann + +0.0.5 (2016-02-01) +------------------ +* Major changes regarding the line detection based on the convex hull + (it should be much more robust now). +* Concave hull plugin added. +* The cluster size can now be limited from above using a specific parameter. + This implicitly avoids large clusters forming a 'L' or 'U'. +* All parameters can now be adjusted using dynamic_reconfigure (rqt_reconfigure). +* Some parameter names changed. +* Line plugin based on ransac: line inliers must now be placed inbetween the start and end of a line. + +0.0.4 (2016-01-11) +------------------ +* Fixed conversion from map to world coordinates if the costmap is not quadratic. + +0.0.3 (2015-12-23) +------------------ +* The argument list of the initialize method requires a nodehandle from now on. This facilitates the handling of parameter namespaces for multiple instantiations of the plugin. +* This change is pushed immediately as a single release to avoid API breaks (since version 0.0.2 is not on the official repos up to now). + +0.0.2 (2015-12-22) +------------------ +* Added a plugin for converting the costmap to lines using ransac + +0.0.1 (2015-12-21) +------------------ +* First release of the package including a pluginlib interface, two plugins (costmap to polygons and costmap to lines) and a standalone conversion node. + diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/CMakeLists.txt b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/CMakeLists.txt new file mode 100644 index 0000000..90429ca --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/CMakeLists.txt @@ -0,0 +1,97 @@ +cmake_minimum_required(VERSION 3.5) +project(costmap_converter) + +# Set to Release in order to speed up the program significantly +set(CMAKE_BUILD_TYPE Release) #None, Debug, Release, RelWithDebInfo, MinSizeRel + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake REQUIRED) +find_package(class_loader REQUIRED) +find_package(costmap_converter_msgs REQUIRED) +find_package(cv_bridge REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(nav2_costmap_2d REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_geometry_msgs REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(OpenCV REQUIRED) +find_package(pluginlib REQUIRED) +find_package(rclcpp REQUIRED) + +set(dependencies + class_loader + costmap_converter_msgs + cv_bridge + geometry_msgs + nav2_costmap_2d + tf2 + tf2_geometry_msgs + tf2_ros + OpenCV + pluginlib + rclcpp +) + +include_directories( + include +) + +add_library(costmap_converter SHARED + src/costmap_to_polygons.cpp + src/costmap_to_polygons_concave.cpp + src/costmap_to_lines_convex_hull.cpp + src/costmap_to_lines_ransac.cpp + src/costmap_to_dynamic_obstacles/costmap_to_dynamic_obstacles.cpp + src/costmap_to_dynamic_obstacles/background_subtractor.cpp + src/costmap_to_dynamic_obstacles/blob_detector.cpp + src/costmap_to_dynamic_obstacles/multitarget_tracker/Ctracker.cpp + src/costmap_to_dynamic_obstacles/multitarget_tracker/Kalman.cpp + src/costmap_to_dynamic_obstacles/multitarget_tracker/HungarianAlg.cpp +) + +ament_target_dependencies(costmap_converter + ${dependencies} +) + +add_executable(standalone_converter src/costmap_converter_node.cpp) + +target_link_libraries(standalone_converter + costmap_converter +) +ament_target_dependencies(standalone_converter + ${dependencies} +) + +install(TARGETS costmap_converter + DESTINATION lib +) +install(TARGETS standalone_converter + DESTINATION bin +) + +install(DIRECTORY include/ + DESTINATION include/ +) + +ament_export_include_directories(include) +ament_export_libraries(costmap_converter) +ament_export_dependencies(${dependencies}) +pluginlib_export_plugin_description_file(costmap_converter costmap_converter_plugins.xml) + +if(BUILD_TESTING) + find_package(ament_cmake_gtest REQUIRED) + ament_add_gtest(test_costmap_polygons test/costmap_polygons.cpp) + if(TARGET test_costmap_polygons) + target_link_libraries(test_costmap_polygons costmap_converter) + endif() + ament_target_dependencies(test_costmap_polygons ${dependencies}) +endif() + +ament_package() diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/cfg/dynamic_reconfigure/CostmapToDynamicObstacles.cfg b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/cfg/dynamic_reconfigure/CostmapToDynamicObstacles.cfg new file mode 100755 index 0000000..7e18a9e --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/cfg/dynamic_reconfigure/CostmapToDynamicObstacles.cfg @@ -0,0 +1,136 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +# For integers and doubles: +# Name Type Reconfiguration level +# Description +# Default Min Max + +################################################################## +###################### Foreground detection ###################### +gen.add("alpha_slow", double_t, 0, + "Foreground detection: Learning rate of the slow filter", + 0.3, 0.0, 1.0) + +gen.add("alpha_fast", double_t, 0, + "Foreground detection: Learning rate of the fast filter", + 0.85, 0.0, 1.0) + +gen.add("beta", double_t, 0, + "Foreground detection: Weighting coefficient between a pixels value and the mean of its nearest neighbors", + 0.85, 0.0, 1.0) + +gen.add("min_sep_between_slow_and_fast_filter", int_t, 0, + "Foreground detection: Minimal difference between the fast and the slow filter to recognize a obstacle as dynamic", + 80, 0, 255) + +gen.add("min_occupancy_probability", int_t, 0, + "Foreground detection: Minimal value of the fast filter to recognize a obstacle as dynamic", + 180, 0, 255) + +gen.add("max_occupancy_neighbors", int_t, 0, + "Foreground detection: Maximal mean value of the nearest neighbors of a pixel in the slow filter", + 80, 0, 255) + +gen.add("morph_size", int_t, 0, + "Foreground detection: Size of the structuring element for the closing operation", + 1, 0, 10) + +gen.add("publish_static_obstacles", bool_t, 0, + "Include static obstacles as single-point polygons", + True) + +############################################################ +###################### Blob detection ###################### + +# These parameters are commented out, because the input image for the blob detection is already binary -> irrelevant +#gen.add("threshold_step", double_t, 0, +# "Blob detection: Distance between neighboring thresholds", +# 256.0, 0.0, 256.0) +# +#gen.add("min_threshold", double_t, 0, +# "Blob detection: Convert the source image to binary images by applying several thresholds, starting at min_threshold", +# 1, 0, 255) +# +#gen.add("max_threshold", double_t, 0, +# "Blob detection: Convert the source image to binary images by applying several thresholds, ending at max_threshold", +# 255, 0, 255) +# +#gen.add("min_repeatability", int_t, 0, +# "Blob detection: Minimal number of detections of a blob in the several thresholds to be considered as real blob", +# 1, 1, 10) +# +gen.add("min_distance_between_blobs", double_t, 0, + "Blob detection: Minimal distance between centers of two blobs to be considered as seperate blobs", + 10, 0.0, 300.0) + +gen.add("filter_by_area", bool_t, 0, + "Blob detection: Filter blobs based on number of pixels", + True) + +gen.add("min_area", int_t, 0, + "Blob detection: Minimal number of pixels a blob consists of", + 3, 0, 300) + +gen.add("max_area", int_t, 0, + "Blob detection: Maximal number of pixels a blob consists of", + 300, 0, 300) + +gen.add("filter_by_circularity", bool_t, 0, + "Blob detection: Filter blobs based on their circularity", + True) + +gen.add("min_circularity", double_t, 0, + "Blob detection: Minimal circularity value (0 in case of a line)", + 0.2, 0.0, 1.0) + +gen.add("max_circularity", double_t, 0, + "Blob detection: Maximal circularity value (1 in case of a circle)", + 1.0, 0.0, 1.0) + +gen.add("filter_by_inertia", bool_t, 0, + "Blob detection: Filter blobs based on their inertia ratio", + True) + +gen.add("min_inertia_ratio", double_t, 0, + "Blob detection: Minimal inertia ratio", + 0.2, 0.0, 1.0) + +gen.add("max_inertia_ratio", double_t, 0, + "Blob detection: Maximal inertia ratio", + 1.0, 0.0, 1.0) + +gen.add("filter_by_convexity", bool_t, 0, + "Blob detection: Filter blobs based on their convexity (Blob area / area of its convex hull)", + False) + +gen.add("min_convexity", double_t, 0, + "Blob detection: Minimum convexity ratio", + 0.0, 0.0, 1.0) + +gen.add("max_convexity", double_t, 0, + "Blob detection: Maximal convexity ratio", + 1.0, 0.0, 1.0) + +################################################################ +#################### Tracking ################################## +gen.add("dt", double_t, 0, + "Tracking: Time for one timestep of the kalman filter", + 0.2, 0.1, 3.0) + +gen.add("dist_thresh", double_t, 0, + "Tracking: Maximum distance between two points to be considered in the assignment problem", + 20.0, 0.0, 150.0) + +gen.add("max_allowed_skipped_frames", int_t, 0, + "Tracking: Maximum number of frames a object is tracked while it is not seen", + 3, 0, 10) + +gen.add("max_trace_length", int_t, 0, + "Tracking: Maximum number of Points in a objects trace", + 10, 1, 100) + +exit(gen.generate("costmap_converter", "standalone_converter", "CostmapToDynamicObstacles")) diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/cfg/dynamic_reconfigure/CostmapToLinesDBSMCCH.cfg b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/cfg/dynamic_reconfigure/CostmapToLinesDBSMCCH.cfg new file mode 100755 index 0000000..1dd917c --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/cfg/dynamic_reconfigure/CostmapToLinesDBSMCCH.cfg @@ -0,0 +1,41 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +# For integers and doubles: +# Name Type Reconfiguration level +# Description +# Default Min Max + + +gen.add("cluster_max_distance", double_t, 0, + "Parameter for DB_Scan, maximum distance to neighbors [m]", + 0.4, 0.0, 10.0) + +gen.add("cluster_min_pts", int_t, 0, + "Parameter for DB_Scan: minimum number of points that define a cluster", + 2, 1, 20) + +gen.add("cluster_max_pts", int_t, 0, + "Parameter for DB_Scan: maximum number of points that define a cluster (limit cluster size to avoid large L- and U-shapes)", + 30, 2, 200) + +gen.add("convex_hull_min_pt_separation", double_t, 0, + "Clear keypoints of the convex polygon that are close to each other [distance in meters] (0: keep all)", + 0.1, 0.0, 10.0) + +gen.add("support_pts_max_dist", double_t, 0, + "Minimum distance from a point to the line to be counted as support point", + 0.3, 0.0, 10.0) + +gen.add("support_pts_max_dist_inbetween", double_t, 0, + "A line is only defined, if the distance between two consecutive support points is less than this treshold. Set to 0 in order to deactivate this check.", + 1.0, 0.0, 10.0) + +gen.add("min_support_pts", int_t, 0, + "Minimum number of support points to represent a line", + 2, 0, 50) + +exit(gen.generate("costmap_converter", "standalone_converter", "CostmapToLinesDBSMCCH")) diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/cfg/dynamic_reconfigure/CostmapToLinesDBSRANSAC.cfg b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/cfg/dynamic_reconfigure/CostmapToLinesDBSRANSAC.cfg new file mode 100755 index 0000000..2c5b322 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/cfg/dynamic_reconfigure/CostmapToLinesDBSRANSAC.cfg @@ -0,0 +1,54 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +# For integers and doubles: +# Name Type Reconfiguration level +# Description +# Default Min Max + + +gen.add("cluster_max_distance", double_t, 0, + "Parameter for DB_Scan, maximum distance to neighbors [m]", + 0.4, 0.0, 10.0) + +gen.add("cluster_min_pts", int_t, 0, + "Parameter for DB_Scan: minimum number of points that define a cluster", + 2, 1, 20) + +gen.add("cluster_max_pts", int_t, 0, + "Parameter for DB_Scan: maximum number of points that define a cluster (limit cluster size to avoid large L- and U-shapes)", + 30, 2, 200) + +gen.add("ransac_inlier_distance", double_t, 0, + "Maximum distance to the line segment for inliers", + 0.2, 0.0, 10.0) + +gen.add("ransac_min_inliers", int_t, 0, + "Minimum numer of inliers required to form a line", + 10, 0, 100) + +gen.add("ransac_no_iterations", int_t, 0, + "Number of ransac iterations", + 2000, 1, 10000) + +gen.add("ransac_remainig_outliers", int_t, 0, + "Repeat ransac until the number of outliers is as specified here", + 3, 0, 50) + +gen.add("ransac_convert_outlier_pts", bool_t, 0, + "Convert remaining outliers to single points.", + True) + +gen.add("ransac_filter_remaining_outlier_pts", bool_t, 0, + "Filter the interior of remaining outliers and keep only keypoints of their convex hull", + False) + +gen.add("convex_hull_min_pt_separation", double_t, 0, + "Clear keypoints of the convex polygon that are close to each other [distance in meters] (0: keep all)", + 0.1, 0.0, 10.0) + + +exit(gen.generate("costmap_converter", "standalone_converter", "CostmapToLinesDBSRANSAC")) diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/cfg/dynamic_reconfigure/CostmapToPolygonsDBSConcaveHull.cfg b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/cfg/dynamic_reconfigure/CostmapToPolygonsDBSConcaveHull.cfg new file mode 100755 index 0000000..7e4d49f --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/cfg/dynamic_reconfigure/CostmapToPolygonsDBSConcaveHull.cfg @@ -0,0 +1,33 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +# For integers and doubles: +# Name Type Reconfiguration level +# Description +# Default Min Max + + +gen.add("cluster_max_distance", double_t, 0, + "Parameter for DB_Scan, maximum distance to neighbors [m]", + 0.4, 0.0, 10.0) + +gen.add("cluster_min_pts", int_t, 0, + "Parameter for DB_Scan: minimum number of points that define a cluster", + 2, 1, 20) + +gen.add("cluster_max_pts", int_t, 0, + "Parameter for DB_Scan: maximum number of points that define a cluster (limit cluster size to avoid large L- and U-shapes)", + 30, 2, 200) + +gen.add("convex_hull_min_pt_separation", double_t, 0, + "Clear keypoints of the convex polygon that are close to each other [distance in meters] (0: keep all)", + 0.1, 0.0, 10.0) + +gen.add("concave_hull_depth", double_t, 0, + "Smaller depth: sharper surface, depth -> high value: convex hull", + 2.0, 0.0, 100.0) + +exit(gen.generate("costmap_converter", "standalone_converter", "CostmapToPolygonsDBSConcaveHull")) diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/cfg/dynamic_reconfigure/CostmapToPolygonsDBSMCCH.cfg b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/cfg/dynamic_reconfigure/CostmapToPolygonsDBSMCCH.cfg new file mode 100755 index 0000000..d5cc11a --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/cfg/dynamic_reconfigure/CostmapToPolygonsDBSMCCH.cfg @@ -0,0 +1,29 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +# For integers and doubles: +# Name Type Reconfiguration level +# Description +# Default Min Max + + +gen.add("cluster_max_distance", double_t, 0, + "Parameter for DB_Scan, maximum distance to neighbors [m]", + 0.4, 0.0, 10.0) + +gen.add("cluster_min_pts", int_t, 0, + "Parameter for DB_Scan: minimum number of points that define a cluster", + 2, 1, 20) + +gen.add("cluster_max_pts", int_t, 0, + "Parameter for DB_Scan: maximum number of points that define a cluster (limit cluster size to avoid large L- and U-shapes)", + 30, 2, 200) + +gen.add("convex_hull_min_pt_separation", double_t, 0, + "Clear keypoints of the convex polygon that are close to each other [distance in meters] (0: keep all)", + 0.1, 0.0, 10.0) + +exit(gen.generate("costmap_converter", "standalone_converter", "CostmapToPolygonsDBSMCCH")) diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/costmap_converter_plugins.xml b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/costmap_converter_plugins.xml new file mode 100644 index 0000000..6930cd1 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/costmap_converter_plugins.xml @@ -0,0 +1,38 @@ + + + + + This class converts costmap2d obstacles into a vector of convex polygons. + Clustering is performed with DBScan. Convex polygons are detected using the Monotone Chain Convex Hull algorithm. + + + + + + This class converts costmap2d obstacles into a vector of lines (represented as polygon msg). + Clustering is performed with DBScan. Clusters are transformed into convex polygons using the Monotone Chain Convex Hull algorithm. + The resulting keypoints are used for possible line candidates. + A line is only defined if there exist a specified number of support points between each keypoint pair. + + + + + + This class converts costmap2d obstacles into a vector of lines (represented as polygon msg). + Clustering is performed with DBScan. For each cluster RANSAC is applied sequentally to fit multiple line models. + + + + + + This class converts costmap2d obstacles into a vector of non-convex (concave) polygons. + + + + + + This class detects and tracks obstacles from a sequence of costmaps. + + + + diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_converter_interface.h b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_converter_interface.h new file mode 100644 index 0000000..6e46375 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_converter_interface.h @@ -0,0 +1,389 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016 + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann, Otniel Rinaldo + *********************************************************************/ + +#ifndef COSTMAP_CONVERTER_INTERFACE_H_ +#define COSTMAP_CONVERTER_INTERFACE_H_ + +//#include +#include +#include + +#include +#include +#include +#include +#include +#include + +namespace costmap_converter +{ + +//! Typedef for a shared dynamic obstacle container +typedef costmap_converter_msgs::msg::ObstacleArrayMsg::SharedPtr ObstacleArrayPtr; +//! Typedef for a shared dynamic obstacle container (read-only access) +typedef costmap_converter_msgs::msg::ObstacleArrayMsg::ConstSharedPtr ObstacleArrayConstPtr; + +//! Typedef for a shared polygon container +typedef std::shared_ptr> PolygonContainerPtr; +//! Typedef for a shared polygon container (read-only access) +typedef std::shared_ptr> PolygonContainerConstPtr; + + +/** + * @class BaseCostmapToPolygons + * @brief This abstract class defines the interface for plugins that convert the costmap into polygon types + * + * Plugins must accept a nav2_costmap_2d::Costmap2D datatype as information source. + * The interface provides two different use cases: + * 1. Manual call to conversion routines: setCostmap2D(), compute() and getPolygons() + * (in subsequent calls setCostmap2D() can be substituted by updateCostmap2D()) + * 2. Repeatedly process costmap with a specific rate (startWorker() and stopWorker()): + * Make sure that the costmap is valid while the worker is active (you can specify your own spinner or activate a threaded spinner). + * Costmaps can be obtained by invoking getPolygons(). + */ +class BaseCostmapToPolygons +{ +public: + + /** + * @brief Initialize the plugin + * @param nh Nodehandle that defines the namespace for parameters + */ + virtual void initialize(rclcpp::Node::SharedPtr nh) { + nh_ = nh; + } + + /** + * @brief Destructor + */ + virtual ~BaseCostmapToPolygons() + { + stopWorker(); + } + + + /** + * @brief Pass a pointer to the costap to the plugin. + * @warning The plugin should handle the costmap's mutex locking. + * @sa updateCostmap2D + * @param costmap Pointer to the costmap2d source + */ + virtual void setCostmap2D(nav2_costmap_2d::Costmap2D* costmap) = 0; + + /** + * @brief Get updated data from the previously set Costmap2D + * @warning The plugin should handle the costmap's mutex locking. + * @sa setCostmap2D + */ + virtual void updateCostmap2D() = 0; + + /** + * @brief This method performs the actual work (conversion of the costmap to polygons) + */ + virtual void compute() = 0; + + /** + * @brief Get a shared instance of the current polygon container + * + * If this method is not implemented by any subclass (plugin) the returned shared + * pointer is empty. + * @remarks If compute() or startWorker() has not been called before, this method returns an empty instance! + * @warning The underlying plugin must ensure that this method is thread safe. + * @return Shared instance of the current polygon container + */ + virtual PolygonContainerConstPtr getPolygons(){return PolygonContainerConstPtr();} + + /** + * @brief Get a shared instance of the current obstacle container + * If this method is not overwritten by the underlying plugin, the obstacle container just imports getPolygons(). + * @remarks If compute() or startWorker() has not been called before, this method returns an empty instance! + * @warning The underlying plugin must ensure that this method is thread safe. + * @return Shared instance of the current obstacle container + * @sa getPolygons + */ + virtual ObstacleArrayConstPtr getObstacles() + { + ObstacleArrayPtr obstacles = std::make_shared(); + PolygonContainerConstPtr polygons = getPolygons(); + if (polygons) + { + for (const geometry_msgs::msg::Polygon& polygon : *polygons) + { + obstacles->obstacles.emplace_back(); + obstacles->obstacles.back().polygon = polygon; + } + } + return obstacles; + } + + /** + * @brief Set name of robot's odometry topic + * + * Some plugins might require odometry information + * to compensate the robot's ego motion + * @param odom_topic topic name + */ + virtual void setOdomTopic(const std::string& odom_topic) { (void)odom_topic; } + + /** + * @brief Determines whether an additional plugin for subsequent costmap conversion is specified + * + * @return false, since all plugins for static costmap conversion are independent + */ + virtual bool stackedCostmapConversion() {return false;} + + /** + * @brief Instantiate a worker that repeatedly coverts the most recent costmap to polygons. + * The worker is implemented as a timer event that is invoked at a specific \c rate. + * The passed \c costmap pointer must be valid at the complete time and must be lockable. + * By specifying the argument \c spin_thread the timer event is invoked in a separate + * thread and callback queue or otherwise it is called from the global callback queue (of the + * node in which the plugin is used). + * @param rate The rate that specifies how often the costmap should be updated + * @param costmap Pointer to the underlying costmap (must be valid and lockable as long as the worker is active + * @param spin_thread if \c true,the timer is invoked in a separate thread, otherwise in the default callback queue) + */ + void startWorker(rclcpp::Rate::SharedPtr rate, nav2_costmap_2d::Costmap2D* costmap, bool spin_thread = false) + { + setCostmap2D(costmap); + + if (spin_thread_) + { + { + std::lock_guard terminate_lock(terminate_mutex_); + need_to_terminate_ = true; + } + spin_thread_->join(); + delete spin_thread_; + } + + if (spin_thread) + { + RCLCPP_DEBUG(nh_->get_logger(), "Spinning up a thread for the CostmapToPolygons plugin"); + need_to_terminate_ = false; + + worker_timer_ = nh_->create_wall_timer( + rate->period(), + std::bind(&BaseCostmapToPolygons::workerCallback, this)); + spin_thread_ = new std::thread(std::bind(&BaseCostmapToPolygons::spinThread, this)); + } + else + { + worker_timer_ = nh_->create_wall_timer( + rate->period(), + std::bind(&BaseCostmapToPolygons::workerCallback, this)); + spin_thread_ = nullptr; + } + } + + /** + * @brief Stop the worker that repeatedly converts the costmap to polygons + */ + void stopWorker() + { + if (worker_timer_) worker_timer_->cancel(); + if (spin_thread_) + { + { + std::lock_guard terminate_lock(terminate_mutex_); + need_to_terminate_ = true; + } + spin_thread_->join(); + delete spin_thread_; + } + } + +protected: + + /** + * @brief Protected constructor that should be called by subclasses + */ + BaseCostmapToPolygons() : //nh_("~costmap_to_polygons"), + nh_(nullptr), + spin_thread_(nullptr), need_to_terminate_(false) {} + + /** + * @brief Blocking method that checks for new timer events (active if startWorker() is called with spin_thread enabled) + */ + void spinThread() + { + rclcpp::WallRate r(10); + while (rclcpp::ok()) + { + { + std::lock_guard terminate_lock(terminate_mutex_); + if (need_to_terminate_) + break; + rclcpp::spin_some(nh_); + r.sleep(); + } + } + } + + /** + * @brief The callback of the worker that performs the actual work (updating the costmap and converting it to polygons) + */ + void workerCallback() + { + updateCostmap2D(); + compute(); + } + + rclcpp::Logger getLogger() const + { + return nh_->get_logger(); + } + + rclcpp::Time now() const + { + return nh_->now(); + } + +private: + rclcpp::TimerBase::SharedPtr worker_timer_; + rclcpp::Node::SharedPtr nh_; + std::thread* spin_thread_; + std::mutex terminate_mutex_; + bool need_to_terminate_; +}; + + +/** + * @class BaseCostmapToDynamicPolygons + * @brief This class extends the BaseCostmapToPolygongs class for dynamic costmap conversion plugins in order to incorporate a subsequent costmap converter plugin for static obstacles + * + * This class should not be instantiated. + */ +class BaseCostmapToDynamicObstacles : public BaseCostmapToPolygons +{ +public: + + /** + * @brief Load underlying static costmap conversion plugin via plugin-loader + * @param plugin_name Exact class name of the plugin to be loaded, e.g. + * costmap_converter::CostmapToPolygonsDBSMCCH + * @param nh_parent NodeHandle which is extended by the namespace of the static conversion plugin + */ + void loadStaticCostmapConverterPlugin(const std::string& plugin_name, rclcpp::Node::SharedPtr nh_parent) + { + try + { + static_costmap_converter_ = static_converter_loader_.createSharedInstance(plugin_name); + + if(std::dynamic_pointer_cast(static_costmap_converter_)) + { + throw pluginlib::PluginlibException("The specified plugin for static costmap conversion is a dynamic plugin. Specify a static plugin."); + } +// std::string raw_plugin_name = static_converter_loader_.getName(plugin_name); + static_costmap_converter_->initialize(nh_parent); + setStaticCostmapConverterPlugin(static_costmap_converter_); + RCLCPP_INFO(getLogger(), "CostmapToDynamicObstacles: underlying costmap conversion plugin for static obstacles %s loaded.", plugin_name.c_str()); + } + catch(const pluginlib::PluginlibException& ex) + { + RCLCPP_WARN(getLogger(), "CostmapToDynamicObstacles: The specified costmap converter plugin cannot be loaded. " + "Continuing without subsequent conversion of static obstacles. Error message: %s", ex.what()); + static_costmap_converter_.reset(); + } + } + + /** + * @brief Set the underlying plugin for subsequent costmap conversion of the static background of the costmap + * @param static_costmap_converter shared pointer to the static costmap conversion plugin + */ + void setStaticCostmapConverterPlugin(std::shared_ptr static_costmap_converter) + { + static_costmap_converter_ = static_costmap_converter; + } + + /** + * @brief Set the costmap for the underlying plugin + * @param static_costmap Costmap2D, which contains the static part of the original costmap + */ + void setStaticCostmap(std::shared_ptr static_costmap) + { + static_costmap_converter_->setCostmap2D(static_costmap.get()); + } + + /** + * @brief Apply the underlying plugin for static costmap conversion + */ + void convertStaticObstacles() + { + static_costmap_converter_->compute(); + } + + /** + * @brief Get the converted polygons from the underlying plugin + * @return Shared instance of the underlying plugins polygon container + */ + PolygonContainerConstPtr getStaticPolygons() + { + return static_costmap_converter_->getPolygons(); + } + + /** + * @brief Determines whether an additional plugin for subsequent costmap conversion is specified + * + * @return true, if a plugin for subsequent costmap conversion is specified + */ + bool stackedCostmapConversion() + { + if(static_costmap_converter_) + return true; + else + return false; + } + +protected: + /** + * @brief Protected constructor that should be called by subclasses + */ + BaseCostmapToDynamicObstacles() : static_converter_loader_("costmap_converter", "costmap_converter::BaseCostmapToPolygons"), static_costmap_converter_() {} + +private: + pluginlib::ClassLoader static_converter_loader_; + std::shared_ptr static_costmap_converter_; +}; + + +} + + + +#endif // end COSTMAP_CONVERTER_INTERFACE_H_ diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/background_subtractor.h b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/background_subtractor.h new file mode 100644 index 0000000..3e3d716 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/background_subtractor.h @@ -0,0 +1,115 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2017 + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Notes: + * The following code makes use of the OpenCV library. + * OpenCV is licensed under the terms of the 3-clause BSD License. + * + * Authors: Franz Albers, Christoph Rösmann + *********************************************************************/ + +#ifndef BACKGROUNDSUBTRACTOR_H_ +#define BACKGROUNDSUBTRACTOR_H_ + +#include + +/** + * @class BackgroundSubtractor + * @brief Perform background subtraction to extract the "moving" foreground + * + * This class is based on OpenCV's background subtraction class cv::BackgroundSubtractor. + * It has been modified in order to incorporate a specialized bandpass filter. + * + * See http://docs.opencv.org/3.2.0/d7/df6/classcv_1_1BackgroundSubtractor.html for the original class. + */ +class BackgroundSubtractor +{ +public: + struct Params + { + double alpha_slow; //!< Filter constant (learning rate) of the slow filter part + double alpha_fast; //!< Filter constant (learning rate) of the fast filter part + double beta; + double min_sep_between_fast_and_slow_filter; + double min_occupancy_probability; + double max_occupancy_neighbors; + int morph_size; + }; + + //! Constructor that accepts a specific parameter configuration + BackgroundSubtractor(const Params& parameters); + + /** + * @brief Computes a foreground mask + * @param[in] image Next video frame + * @param[out] fg_mask Foreground mask as an 8-bit binary image + * @param[in] shift_x Translation along the x axis between the current and previous image + * @param[in] shift_y Translation along the y axis between the current and previous image + */ + void apply(const cv::Mat& image, cv::Mat& fg_mask, int shift_x = 0, int shift_y = 0); + + /** + * @brief OpenCV Visualization + * @param name Id/name of the opencv window + * @param image Image to be visualized + */ + void visualize(const std::string& name, const cv::Mat& image); + + /** + * @brief Export vector of matrices to yaml file + * @remarks This method is intended for debugging purposes + * @param filename Desired filename including path and excluding file suffix + * @param mat_vec Vector of cv::Mat to be exported + */ + void writeMatToYAML(const std::string& filename, const std::vector& mat_vec); + + //! Update internal parameters + void updateParameters(const Params& parameters); + +private: + //! Transform/shift all internal matrices/grids according to a given translation vector + void transformToCurrentFrame(int shift_x, int shift_y); + + cv::Mat occupancy_grid_fast_; + cv::Mat occupancy_grid_slow_; + cv::Mat current_frame_; + + int previous_shift_x_; + int previous_shift_y_; + + Params params_; +}; + +#endif // BACKGROUNDSUBTRACTOR_H_ diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/blob_detector.h b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/blob_detector.h new file mode 100644 index 0000000..ac9b80a --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/blob_detector.h @@ -0,0 +1,111 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2017 + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Notes: + * The following code makes use of the OpenCV library. + * OpenCV is licensed under the terms of the 3-clause BSD License. + * + * Authors: Franz Albers, Christoph Rösmann + *********************************************************************/ + +#ifndef BLOBDETECTOR_H_ +#define BLOBDETECTOR_H_ + +// Basically the OpenCV SimpleBlobDetector, extended with getContours() + +#include + +/** + * @class BlobDetector + * @brief Detect blobs in image (specialized for dynamic obstacles in the costmap) + * + * This class is based on OpenCV's blob detector cv::SimpleBlobDetector. + * It has been modified and specialized for dynamic obstacle tracking in the costmap: + * -> The modified version also returns contours of the blob. + * + * See http://docs.opencv.org/trunk/d0/d7a/classcv_1_1SimpleBlobDetector.html for the original class. + */ +class BlobDetector : public cv::SimpleBlobDetector +{ +public: + //! Default constructor which optionally accepts custom parameters + BlobDetector(const cv::SimpleBlobDetector::Params& parameters = cv::SimpleBlobDetector::Params()); + + //! Create shared instance of the blob detector with given parameters + static cv::Ptr create(const BlobDetector::Params& params); + + /** + * @brief Detects keypoints in an image and extracts contours + * + * In contrast to the original detect method, this extended version + * also extracts contours. Contours can be accessed by getContours() + * after invoking this method. + * + * @todo The mask option is currently not implemented. + * + * @param image image + * @param keypoints The detected keypoints. + * @param mask Mask specifying where to look for keypoints (optional). It must be a 8-bit integer + * matrix with non-zero values in the region of interest. + */ + virtual void detect(const cv::Mat& image, std::vector& keypoints, + const cv::Mat& mask = cv::Mat()); + + /** + * @brief Access contours extracted during detection stage + * @return Read-only reference to the contours set of the previous detect() run + */ + const std::vector>& getContours() { return contours_; } + + //! Update internal parameters + void updateParameters(const cv::SimpleBlobDetector::Params& parameters); + +protected: + struct Center + { + cv::Point2d location; + double radius; + double confidence; + }; + + virtual void findBlobs(const cv::Mat& image, const cv::Mat& binary_image, std::vector
& centers, + std::vector>& cur_contours) const; + + std::vector> contours_; + + Params params_; +}; + +#endif // BLOBDETECTOR_H_ diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/costmap_to_dynamic_obstacles.h b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/costmap_to_dynamic_obstacles.h new file mode 100644 index 0000000..0c9924b --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/costmap_to_dynamic_obstacles.h @@ -0,0 +1,212 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2017 + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Notes: + * The following code makes use of the OpenCV library. + * OpenCV is licensed under the terms of the 3-clause BSD License. + * + * Authors: Franz Albers, Christoph Rösmann + *********************************************************************/ + +#ifndef COSTMAP_TO_DYNAMIC_OBSTACLES_H_ +#define COSTMAP_TO_DYNAMIC_OBSTACLES_H_ + +// ROS +#include +#include +#include +#include + +// OpenCV +#include +#include +#include + +// dynamic reconfigure +//#include +//#include + +// Own includes +#include +#include +#include + +// STL +#include + +namespace costmap_converter { + +/** + * @class CostmapToDynamicObstacles + * @brief This class converts the costmap_2d into dynamic obstacles. + * + * Static obstacles are treated as point obstacles. + */ +class CostmapToDynamicObstacles : public BaseCostmapToDynamicObstacles +{ +public: + /** + * @brief Constructor + */ + CostmapToDynamicObstacles(); + + /** + * @brief Destructor + */ + virtual ~CostmapToDynamicObstacles(); + + /** + * @brief Initialize the plugin + * @param nh Nodehandle that defines the namespace for parameters + */ + virtual void initialize(rclcpp::Node::SharedPtr nh); + + /** + * @brief This method performs the actual work (conversion of the costmap to + * obstacles) + */ + virtual void compute(); + + /** + * @brief Pass a pointer to the costmap to the plugin. + * @sa updateCostmap2D + * @param costmap Pointer to the costmap2d source + */ + virtual void setCostmap2D(nav2_costmap_2d::Costmap2D* costmap); + + /** + * @brief Get updated data from the previously set Costmap2D + * @sa setCostmap2D + */ + virtual void updateCostmap2D(); + + /** + * @brief Get a shared instance of the current obstacle container + * @remarks If compute() or startWorker() has not been called before, this + * method returns an empty instance! + * @return Shared instance of the current obstacle container + */ + ObstacleArrayConstPtr getObstacles(); + + /** + * @brief Set name of robot's odometry topic + * + * @warning The method must be called before initialize() + * + * Some plugins might require odometry information + * to compensate the robot's ego motion + * @param odom_topic topic name + */ + virtual void setOdomTopic(const std::string& odom_topic) + { + odom_topic_ = odom_topic; + } + + /** + * @brief OpenCV Visualization + * @param name Id/name of the opencv window + * @param image Image to be visualized + */ + void visualize(const std::string& name, const cv::Mat& image); + +protected: + /** + * @brief Converts the estimated velocity of a tracked object to m/s and + * returns it + * @param idx Index of the tracked object in the tracker + * @return Point_t, which represents velocity in [m/s] of object(idx) in x,y,z + * coordinates + */ + Point_t getEstimatedVelocityOfObject(unsigned int idx); + + /** + * @brief Gets the last observed contour of a object and converts it from [px] + * to [m] + * @param[in] idx Index of the tracked object in the tracker + * @param[out] contour vector of Point_t, which represents the last observed contour in [m] + * in x,y,z coordinates + */ + void getContour(unsigned int idx, std::vector& contour); + + /** + * @brief Thread-safe update of the internal obstacle container (that is + * shared using getObstacles() from outside this + * class) + * @param obstacles Updated obstacle container + */ + void updateObstacleContainer(ObstacleArrayPtr obstacles); + +private: + std::mutex mutex_; + nav2_costmap_2d::Costmap2D* costmap_; + cv::Mat costmap_mat_; + ObstacleArrayPtr obstacles_; + cv::Mat fg_mask_; + std::unique_ptr bg_sub_; + cv::Ptr blob_det_; + std::vector keypoints_; + std::unique_ptr tracker_; + rclcpp::Subscription::SharedPtr odom_sub_; + Point_t ego_vel_; + + std::string odom_topic_ = "/odom"; + bool publish_static_obstacles_ = true; + +// dynamic_reconfigure::Server* +// dynamic_recfg_; //!< Dynamic reconfigure server to allow config +// //! modifications at runtime + + /** + * @brief Callback for the odometry messages of the observing robot. + * + * Used to convert the velocity of obstacles to the /map frame. + * @param msg The Pointer to the nav_msgs::Odometry of the observing robot + */ + void odomCallback(const nav_msgs::msg::Odometry::ConstSharedPtr msg); + + /** + * @brief Callback for the dynamic_reconfigure node. + * + * This callback allows to modify parameters dynamically at runtime without + * restarting the node + * @param config Reference to the dynamic reconfigure config + * @param level Dynamic reconfigure level + */ +// void reconfigureCB(CostmapToDynamicObstaclesConfig &config, uint32_t level); +}; + +} // end namespace costmap_converter + +#endif /* COSTMAP_TO_DYNAMIC_OBSTACLES_H_ */ diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/Ctracker.h b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/Ctracker.h new file mode 100644 index 0000000..ca0f01e --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/Ctracker.h @@ -0,0 +1,96 @@ +// Based on https://github.com/Smorodov/Multitarget-tracker/tree/master/Tracker, GPLv3 +// Refer to README.md in this directory. + +#pragma once +#include "Kalman.h" +#include "HungarianAlg.h" +#include "defines.h" +#include +#include +#include +#include + +// -------------------------------------------------------------------------- +class CTrack +{ +public: + CTrack(const Point_t& p, const std::vector& contour, track_t dt, size_t trackID) + : track_id(trackID), + skipped_frames(0), + prediction(p), + lastContour(contour), + KF(p, dt) + { + } + + track_t CalcDist(const Point_t& p) + { + Point_t diff = prediction - p; + return std::sqrt(diff.x * diff.x + diff.y * diff.y + diff.z * diff.z); + } + + void Update(const Point_t& p, const std::vector& contour, bool dataCorrect, size_t max_trace_length) + { + KF.Prediction(); + prediction = KF.Update(p, dataCorrect); + + if (dataCorrect) + { + lastContour = contour; + } + + if (trace.size() > max_trace_length) + { + trace.erase(trace.begin(), trace.end() - max_trace_length); + } + + trace.push_back(prediction); + } + + // Returns contour in [px], not in [m]! + std::vector getLastContour() const + { + return lastContour; + } + + // Returns velocity in [px/s], not in [m/s]! + Point_t getEstimatedVelocity() const + { + return KF.LastVelocity; + } + + std::vector trace; + size_t track_id; + size_t skipped_frames; + +private: + Point_t prediction; + std::vector lastContour; // Contour liegt immer auf ganzen Pixeln -> Integer Punkt + TKalmanFilter KF; +}; + +// -------------------------------------------------------------------------- +class CTracker +{ +public: + struct Params{ + track_t dt; // time for one step of the filter + track_t dist_thresh;// distance threshold. Pairs of points with higher distance are not considered in the assignment problem + int max_allowed_skipped_frames; // Maximum number of frames the track is maintained without seeing the object in the measurement data + int max_trace_length; // Maximum trace length + }; + + CTracker(const Params& parameters); + ~CTracker(void); + + std::vector> tracks; + void Update(const std::vector& detectedCentroid, const std::vector > &contour); + + void updateParameters(const Params ¶meters); + +private: + // Aggregated parameters for the tracker object + Params params; + // ID for the upcoming CTrack object + size_t NextTrackID; +}; diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/HungarianAlg.h b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/HungarianAlg.h new file mode 100644 index 0000000..0985ae7 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/HungarianAlg.h @@ -0,0 +1,60 @@ +// Based on https://github.com/Smorodov/Multitarget-tracker/tree/master/Tracker, GPLv3 +// Refer to README.md in this directory. + +#include +#include +#include +#include +#include "defines.h" + +// http://community.topcoder.com/tc?module=Static&d1=tutorials&d2=hungarianAlgorithm + +typedef std::vector assignments_t; +typedef std::vector distMatrix_t; + +class AssignmentProblemSolver +{ +private: + // -------------------------------------------------------------------------- + // Computes the optimal assignment (minimum overall costs) using Munkres algorithm. + // -------------------------------------------------------------------------- + void assignmentoptimal(assignments_t& assignment, track_t& cost, const distMatrix_t& distMatrixIn, size_t nOfRows, + size_t nOfColumns); + void buildassignmentvector(assignments_t& assignment, bool* starMatrix, size_t nOfRows, size_t nOfColumns); + void computeassignmentcost(const assignments_t& assignment, track_t& cost, const distMatrix_t& distMatrixIn, + size_t nOfRows); + void step2a(assignments_t& assignment, track_t* distMatrix, bool* starMatrix, bool* newStarMatrix, bool* primeMatrix, + bool* coveredColumns, bool* coveredRows, size_t nOfRows, size_t nOfColumns, size_t minDim); + void step2b(assignments_t& assignment, track_t* distMatrix, bool* starMatrix, bool* newStarMatrix, bool* primeMatrix, + bool* coveredColumns, bool* coveredRows, size_t nOfRows, size_t nOfColumns, size_t minDim); + void step3(assignments_t& assignment, track_t* distMatrix, bool* starMatrix, bool* newStarMatrix, bool* primeMatrix, + bool* coveredColumns, bool* coveredRows, size_t nOfRows, size_t nOfColumns, size_t minDim); + void step4(assignments_t& assignment, track_t* distMatrix, bool* starMatrix, bool* newStarMatrix, bool* primeMatrix, + bool* coveredColumns, bool* coveredRows, size_t nOfRows, size_t nOfColumns, size_t minDim, size_t row, + size_t col); + void step5(assignments_t& assignment, track_t* distMatrix, bool* starMatrix, bool* newStarMatrix, bool* primeMatrix, + bool* coveredColumns, bool* coveredRows, size_t nOfRows, size_t nOfColumns, size_t minDim); + // -------------------------------------------------------------------------- + // Computes a suboptimal solution. Good for cases with many forbidden assignments. + // -------------------------------------------------------------------------- + void assignmentsuboptimal1(assignments_t& assignment, track_t& cost, const distMatrix_t& distMatrixIn, size_t nOfRows, + size_t nOfColumns); + // -------------------------------------------------------------------------- + // Computes a suboptimal solution. Good for cases with many forbidden assignments. + // -------------------------------------------------------------------------- + void assignmentsuboptimal2(assignments_t& assignment, track_t& cost, const distMatrix_t& distMatrixIn, size_t nOfRows, + size_t nOfColumns); + +public: + enum TMethod + { + optimal, + many_forbidden_assignments, + without_forbidden_assignments + }; + + AssignmentProblemSolver(); + ~AssignmentProblemSolver(); + track_t Solve(const distMatrix_t& distMatrixIn, size_t nOfRows, size_t nOfColumns, assignments_t& assignment, + TMethod Method = optimal); +}; diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/Kalman.h b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/Kalman.h new file mode 100755 index 0000000..34a5319 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/Kalman.h @@ -0,0 +1,20 @@ +// Based on https://github.com/Smorodov/Multitarget-tracker/tree/master/Tracker, GPLv3 +// Refer to README.md in this directory. + +#pragma once +#include "defines.h" +#include + +// http://www.morethantechnical.com/2011/06/17/simple-kalman-filter-for-tracking-using-opencv-2-2-w-code/ +class TKalmanFilter +{ +public: + TKalmanFilter(Point_t p, track_t deltatime = 0.2); + ~TKalmanFilter(); + void Prediction(); + Point_t Update(Point_t p, bool DataCorrect); + cv::KalmanFilter* kalman; + track_t dt; + Point_t LastPosition; // contour in [px] + Point_t LastVelocity; // velocity in [px/s] +}; diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/README.md b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/README.md new file mode 100644 index 0000000..3fb4614 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/README.md @@ -0,0 +1,13 @@ +Multitarget Tracker +=================== + +This code is mostly copied from the (MultitargetTracker)[https://github.com/Smorodov/Multitarget-tracker]. +It is utilized for the *CostmapToDynamicObstacles* plugin. + +The *MultitargetTracker* is licensed under (GNU GPLv3)[https://www.gnu.org/licenses/gpl-3.0.txt]. +The package itself depends on other third party packages with different licenses (refer to the package repository). + +TODO: Include the whole package as external CMake project. + + + diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/defines.h b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/defines.h new file mode 100644 index 0000000..203004f --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/defines.h @@ -0,0 +1,9 @@ +// Based on https://github.com/Smorodov/Multitarget-tracker/tree/master/Tracker, GPLv3 +// Refer to README.md in this directory. + +#pragma once +#include + +typedef float track_t; +typedef cv::Point3_ Point_t; +#define Mat_t CV_32FC diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_lines_convex_hull.h b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_lines_convex_hull.h new file mode 100644 index 0000000..7e409f3 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_lines_convex_hull.h @@ -0,0 +1,137 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann, Otniel Rinaldo + *********************************************************************/ + +#ifndef COSTMAP_TO_LINES_CONVEX_HULL_H_ +#define COSTMAP_TO_LINES_CONVEX_HULL_H_ + +#include +#include + +// dynamic reconfigure +//#include + +namespace costmap_converter +{ + +/** + * @class CostmapToLinesDBSMCCH + * @brief This class converts the costmap_2d into a set of lines (and points) + * + * The conversion is performed in three stages: + * 1. Clusters in the costmap are collected using the DBSCAN Algorithm (https://en.wikipedia.org/wiki/DBSCAN) + * Reference: Ester, Martin; Kriegel, Hans-Peter; Sander, Jörg; Xu, Xiaowei, + * A density-based algorithm for discovering clusters in large spatial databases with noise. + * Proceedings of the Second International Conference on Knowledge Discovery and Data Mining. AAAI Press. 1996. pp. 226–231. ISBN 1-57735-004-9. + * + * 2. In the subsequent stage, the convex hull of each cluster is determined using the monotone chain algorithm aka Andrew's algorithm: + * C++ implementation example: http://www.algorithmist.com/index.php/Monotone_Chain_Convex_Hull ( GNU Free Documentation License 1.2 ) + * Reference: A. M. Andrew, "Another Efficient Algorithm for Convex Hulls in Two Dimensions", Info. Proc. Letters 9, 216-219 (1979). + * + * 3. In the third step extract lines from each polygon (convex hull) if there exist at least a predefined number of support points. + * + * The output is a container of polygons (but each polygon does only contain a single vertex (point) or two vertices (line) + */ + class CostmapToLinesDBSMCCH : public CostmapToPolygonsDBSMCCH + { + public: + + /** + * @brief Constructor + */ + CostmapToLinesDBSMCCH(); + + /** + * @brief Destructor + */ + virtual ~CostmapToLinesDBSMCCH(); + + /** + * @brief Initialize the plugin + * @param nh Nodehandle that defines the namespace for parameters + */ + virtual void initialize(rclcpp::Node::SharedPtr nh); + + /** + * @brief This method performs the actual work (conversion of the costmap to polygons) + */ + virtual void compute(); + + + protected: + + /** + * @brief Extract points and lines from a given cluster by checking all keypoint pairs of the convex hull for a minimum number of support points + * @param cluster list of points in the cluster + * @param polygon convex hull of the cluster \c cluster + * @param[out] lines back_inserter object to a sequence of polygon msgs (new lines will be pushed back) + */ + void extractPointsAndLines(std::vector& cluster, const geometry_msgs::msg::Polygon& polygon, std::back_insert_iterator< std::vector > lines); + + + + protected: + + double support_pts_max_dist_inbetween_; + double support_pts_max_dist_; + int min_support_pts_; + + private: + + /** + * @brief Callback for the dynamic_reconfigure node. + * + * This callback allows to modify parameters dynamically at runtime without restarting the node + * @param config Reference to the dynamic reconfigure config + * @param level Dynamic reconfigure level + */ +// void reconfigureCB(CostmapToLinesDBSMCCHConfig& config, uint32_t level); + +// dynamic_reconfigure::Server* dynamic_recfg_; //!< Dynamic reconfigure server to allow config modifications at runtime + + }; + + + + + + + + +} //end namespace teb_local_planner + +#endif /* COSTMAP_TO_LINES_CONVEX_HULL_H_ */ diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_lines_ransac.h b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_lines_ransac.h new file mode 100644 index 0000000..26d494c --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_lines_ransac.h @@ -0,0 +1,187 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef COSTMAP_TO_LINES_RANSAC_H_ +#define COSTMAP_TO_LINES_RANSAC_H_ + +#include +#include +#include + +#include + +//#include + +namespace costmap_converter +{ + +/** + * @class CostmapToLinesDBSRANSAC + * @brief This class converts the costmap_2d into a set of lines (and points) + * + * The conversion is performed in two stages: + * 1. Clusters in the costmap are collected using the DBSCAN Algorithm (https://en.wikipedia.org/wiki/DBSCAN) + * Reference: Ester, Martin; Kriegel, Hans-Peter; Sander, Jörg; Xu, Xiaowei, + * A density-based algorithm for discovering clusters in large spatial databases with noise. + * Proceedings of the Second International Conference on Knowledge Discovery and Data Mining. AAAI Press. 1996. pp. 226–231. ISBN 1-57735-004-9. + * + * 2. The RANSAC algorithm is used to find straight line segment models (https://en.wikipedia.org/wiki/RANSAC) + * RANSAC is called repeatedly to find multiple lines per cluster until the number of inliners is below a specific threshold. + * In that case the remaining outliers are used as points or keypoints of their convex hull are used as points (depending on a paramter). + * The latter one applies as a filter. The convex assumption is not strict in practice, since the remaining regions/cluster (line inliers are removed) + * should be dense and small. For details about the convex hull algorithm, refer to costmap_converter::CostmapToPolygonsDBSMCCH. + * Resulting lines of RANSAC are currently not refined by linear regression. + * + * The output is a container of polygons (but each polygon does only contain a single vertex (point) or two vertices (line) + */ + class CostmapToLinesDBSRANSAC : public CostmapToPolygonsDBSMCCH + { + public: + + /** + * @brief Constructor + */ + CostmapToLinesDBSRANSAC(); + + /** + * @brief Destructor + */ + virtual ~CostmapToLinesDBSRANSAC(); + + /** + * @brief Initialize the plugin + * @param nh Nodehandle that defines the namespace for parameters + */ + virtual void initialize(rclcpp::Node::SharedPtr nh); + + /** + * @brief This method performs the actual work (conversion of the costmap to polygons) + */ + virtual void compute(); + + + /** + * @brief Check if the candidate point is an inlier. + * @param point generic 2D point type defining the reference point + * @param line_start generic 2D point type defining the start of the line + * @param line_end generic 2D point type defining the end of the line + * @param min_distance minimum distance allowed + * @tparam Point generic point type that should provide (writable) x and y member fiels. + * @tparam LinePoint generic point type that should provide (writable) x and y member fiels. + * @return \c true if inlier, \c false otherwise + */ + template + static bool isInlier(const Point& point, const LinePoint& line_start, const LinePoint& line_end, double min_distance); + + protected: + + double ransac_inlier_distance_; //!< Maximum distance to the line segment for inliers + int ransac_min_inliers_; //!< Minimum numer of inliers required to form a line + int ransac_no_iterations_; //!< Number of ransac iterations + int ransac_remainig_outliers_; //!< Repeat ransac until the number of outliers is as specified here + bool ransac_convert_outlier_pts_; //!< If \c true, convert remaining outliers to single points. + bool ransac_filter_remaining_outlier_pts_; //!< If \c true, filter the interior of remaining outliers and keep only keypoints of their convex hull + + + std::mt19937 rnd_generator_; //!< Random number generator for ransac with default seed + + + /** + * @brief Find a straight line segment in a point cloud with RANSAC (without linear regression). + * @param data set of 2D data points + * @param inlier_distance maximum distance that inliers must satisfy + * @param no_iterations number of RANSAC iterations + * @param min_inliers minimum number of inliers to return true + * @param[out] best_model start and end of the best straight line segment + * @param[out] inliers inlier keypoints are written to this container [optional] + * @param[out] outliers outlier keypoints are written to this container [optional] + * @return \c false, if \c min_inliers is not satisfied, \c true otherwise + */ + bool lineRansac(const std::vector& data, double inlier_distance, int no_iterations, int min_inliers, + std::pair& best_model, std::vector* inliers = NULL, + std::vector* outliers = NULL); + + /** + * @brief Perform a simple linear regression in order to fit a straight line 'y = slope*x + intercept' + * @param data set of 2D data points + * @param[out] slope The slope of the fitted line + * @param[out] intercept The intercept / offset of the line + * @param[out] mean_x_out mean of the x-values of the data [optional] + * @param[out] mean_y_out mean of the y-values of the data [optional] + * @return \c true, if a valid line has been fitted, \c false otherwise. + */ + bool linearRegression(const std::vector& data, double& slope, double& intercept, + double* mean_x_out = NULL, double* mean_y_out = NULL); + + + +// void adjustLineLength(const std::vector& data, const KeyPoint& linept1, const KeyPoint& linept2, +// KeyPoint& line_start, KeyPoint& line_end); + + private: + + /** + * @brief Callback for the dynamic_reconfigure node. + * + * This callback allows to modify parameters dynamically at runtime without restarting the node + * @param config Reference to the dynamic reconfigure config + * @param level Dynamic reconfigure level + */ +// void reconfigureCB(CostmapToLinesDBSRANSACConfig& config, uint32_t level); + +// dynamic_reconfigure::Server* dynamic_recfg_; //!< Dynamic reconfigure server to allow config modifications at runtime + }; + + + +template +bool CostmapToLinesDBSRANSAC::isInlier(const Point& point, const LinePoint& line_start, const LinePoint& line_end, double min_distance) +{ + bool is_inbetween = false; + double distance = computeDistanceToLineSegment(point, line_start, line_end, &is_inbetween); + if (!is_inbetween) + return false; + if (distance <= min_distance) + return true; + return false; +} + + +} //end namespace teb_local_planner + +#endif /* COSTMAP_TO_LINES_RANSAC_H_ */ diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_polygons.h b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_polygons.h new file mode 100644 index 0000000..049fd10 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_polygons.h @@ -0,0 +1,335 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann, Otniel Rinaldo + *********************************************************************/ + +#ifndef COSTMAP_TO_POLYGONS_H_ +#define COSTMAP_TO_POLYGONS_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +// dynamic reconfigure +//#include +//#include + + +namespace costmap_converter +{ + +/** + * @class CostmapToPolygonsDBSMCCH + * @brief This class converts the costmap_2d into a set of convex polygons (and points) + * + * The conversion is performed in two stages: + * 1. Clusters in the costmap are collected using the DBSCAN Algorithm (https://en.wikipedia.org/wiki/DBSCAN) + * Reference: Ester, Martin; Kriegel, Hans-Peter; Sander, Jörg; Xu, Xiaowei, + * A density-based algorithm for discovering clusters in large spatial databases with noise. + * Proceedings of the Second International Conference on Knowledge Discovery and Data Mining. AAAI Press. 1996. pp. 226–231. ISBN 1-57735-004-9. + * + * 2. In the subsequent stage, clusters are converted into convex polgons using the monotone chain algorithm aka Andrew's algorithm: + * C++ implementation example: http://www.algorithmist.com/index.php/Monotone_Chain_Convex_Hull ( GNU Free Documentation License 1.2 ) + * Reference: A. M. Andrew, "Another Efficient Algorithm for Convex Hulls in Two Dimensions", Info. Proc. Letters 9, 216-219 (1979). + * + * All single points that do not define a cluster (noise) are also treated as polygon (represented as a single vertex) + */ +class CostmapToPolygonsDBSMCCH : public BaseCostmapToPolygons +{ + public: + + /** + * @struct KeyPoint + * @brief Defines a keypoint in metric coordinates of the map + */ + struct KeyPoint + { + //! Default constructor + KeyPoint() : x(0.0), y(0.0) {} + //! Constructor with point initialization + KeyPoint(double x_, double y_) : x(x_), y(y_) {} + double x; //!< x coordinate [m] + double y; //!< y coordinate [m] + + //! Convert keypoint to geometry_msgs::msg::Point message type + void toPointMsg(geometry_msgs::msg::Point& point) const {point.x=x; point.y=y; point.z=0;} + //! Convert keypoint to geometry_msgs::msg::Point32 message type + void toPointMsg(geometry_msgs::msg::Point32& point) const {point.x=x; point.y=y; point.z=0;} + }; + + /** + * @struct Parameters + * @brief Defines the parameters of the algorithm + */ + struct Parameters + { + Parameters() : max_distance_(0.4), min_pts_(2), max_pts_(30), min_keypoint_separation_(0.1) {} + // DBSCAN parameters + double max_distance_; //!< Parameter for DB_Scan, maximum distance to neighbors [m] + int min_pts_; //!< Parameter for DB_Scan: minimum number of points that define a cluster + int max_pts_; //!< Parameter for DB_Scan: maximum number of points that define a cluster (to avoid large L- and U-shapes) + + // convex hull parameters + double min_keypoint_separation_; //!< Clear keypoints of the convex polygon that are close to each other [distance in meters] (0: keep all) + }; + + /** + * @brief Constructor + */ + CostmapToPolygonsDBSMCCH(); + + /** + * @brief Destructor + */ + virtual ~CostmapToPolygonsDBSMCCH(); + + /** + * @brief Initialize the plugin + * @param nh Nodehandle that defines the namespace for parameters + */ + virtual void initialize(rclcpp::Node::SharedPtr nh) override; + + /** + * @brief This method performs the actual work (conversion of the costmap to polygons) + */ + virtual void compute(); + + /** + * @brief Pass a pointer to the costap to the plugin. + * @sa updateCostmap2D + * @param costmap Pointer to the costmap2d source + */ + virtual void setCostmap2D(nav2_costmap_2d::Costmap2D* costmap); + + /** + * @brief Get updated data from the previously set Costmap2D + * @sa setCostmap2D + */ + virtual void updateCostmap2D(); + + + /** + * @brief Convert a generi point type to a geometry_msgs::msg::Polygon + * @param point generic 2D point type + * @param[out] polygon already instantiated polygon that will be filled with a single point + * @tparam Point generic point type that should provide (writable) x and y member fiels. + */ + template< typename Point> + static void convertPointToPolygon(const Point& point, geometry_msgs::msg::Polygon& polygon) + { + polygon.points.resize(1); + polygon.points.front().x = point.x; + polygon.points.front().y = point.y; + polygon.points.front().z = 0; + } + + /** + * @brief Get a shared instance of the current polygon container + * @remarks If compute() or startWorker() has not been called before, this method returns an empty instance! + * @return Shared instance of the current polygon container + */ + PolygonContainerConstPtr getPolygons(); + + + + protected: + + /** + * @brief DBSCAN algorithm for clustering + * + * Clusters in the costmap are collected using the DBSCAN Algorithm (https://en.wikipedia.org/wiki/DBSCAN) + * Reference: Ester, Martin; Kriegel, Hans-Peter; Sander, Jörg; Xu, Xiaowei, + * A density-based algorithm for discovering clusters in large spatial databases with noise. + * Proceedings of the Second International Conference on Knowledge Discovery and Data Mining. AAAI Press. 1996. pp. 226–231. ISBN 1-57735-004-9. + * + * @param[out] clusters clusters will added to this output-argument (a sequence of keypoints for each cluster) + * the first cluster (clusters[0]) will contain all noise points (that does not fulfil the min_pts condition + */ + void dbScan(std::vector< std::vector >& clusters); + + /** + * @brief Helper function for dbScan to search for neighboring points + * + * @param curr_index index to the current item in \c occupied_cells + * @param[out] neighbor_indices list of neighbors (indices of \c occupied cells) + */ + void regionQuery(int curr_index, std::vector& neighbor_indices); + + /** + * @brief helper function for adding a point to the lookup data structures + */ + void addPoint(double x, double y) + { + int idx = occupied_cells_.size(); + occupied_cells_.emplace_back(x, y); + int cx, cy; + pointToNeighborCells(occupied_cells_.back(), cx, cy); + int nidx = neighborCellsToIndex(cx, cy); + if (nidx >= 0) + neighbor_lookup_[nidx].push_back(idx); + } + + /** + * @brief Compute the convex hull for a single cluster (monotone chain algorithm) + * + * Clusters are converted into convex polgons using the monotone chain algorithm aka Andrew's algorithm: + * C++ implementation example: http://www.algorithmist.com/index.php/Monotone_Chain_Convex_Hull ( GNU Free Documentation License 1.2 ) + * Reference: A. M. Andrew, "Another Efficient Algorithm for Convex Hulls in Two Dimensions", Info. Proc. Letters 9, 216-219 (1979). + * @remarks The algorithm seems to cut edges, thus we give a try to convexHull2(). + * @todo Evaluate and figure out whether convexHull() or convexHull2() is better suited (performance, quality, ...) + * @remarks The last point is the same as the first one + * @param cluster list of keypoints that should be converted into a polygon + * @param[out] polygon the resulting convex polygon + */ + void convexHull(std::vector& cluster, geometry_msgs::msg::Polygon& polygon); + + /** + * @brief Compute the convex hull for a single cluster + * + * Clusters are converted into convex polgons using an algorithm provided here: + * https://bitbucket.org/vostreltsov/concave-hull/overview + * The convex hull algorithm is part of the concave hull algorithm. + * The license is WTFPL 2.0 and permits any usage. + * + * @remarks The last point is the same as the first one + * @param cluster list of keypoints that should be converted into a polygon + * @param[out] polygon the resulting convex polygon + * @todo Evaluate and figure out whether convexHull() or convexHull2() is better suited (performance, quality, ...) + */ + void convexHull2(std::vector& cluster, geometry_msgs::msg::Polygon& polygon); + + /** + * @brief Simplify a polygon by removing points. + * + * We apply the Douglas-Peucker Algorithm to simplify the edges of the polygon. + * Internally, the parameter min_keypoint_separation is used for deciding whether + * a point is considered close to an edge and to be merged into the line. + */ + void simplifyPolygon(geometry_msgs::msg::Polygon& polygon); + + /** + * @brief 2D Cross product of two vectors defined by two points and a common origin + * @param O Origin + * @param A First point + * @param B Second point + * @tparam P1 2D Point type with x and y member fields + * @tparam P2 2D Point type with x and y member fields + * @tparam P3 2D Point type with x and y member fields + */ + template + long double cross(const P1& O, const P2& A, const P3& B) + { + return (long double)(A.x - O.x) * (long double)(B.y - O.y) - (long double)(A.y - O.y) * (long double)(B.x - O.x); + } + + + /** + * @brief Thread-safe update of the internal polygon container (that is shared using getPolygons() from outside this class) + * @param polygons Updated polygon container + */ + void updatePolygonContainer(PolygonContainerPtr polygons); + + + std::vector occupied_cells_; //!< List of occupied cells in the current map (updated by updateCostmap2D()) + + std::vector > neighbor_lookup_; //! array of cells for neighbor lookup + int neighbor_size_x_; //! size of the neighbour lookup in x (number of cells) + int neighbor_size_y_; //! size of the neighbour lookup in y (number of cells) + double offset_x_; //! offset [meters] in x for the lookup grid + double offset_y_; //! offset [meters] in y for the lookup grid + + /** + * @brief convert a 2d cell coordinate into the 1D index of the array + * @param cx the x index of the cell + * @param cy the y index of the cell + */ + int neighborCellsToIndex(int cx, int cy) + { + if (cx < 0 || cx >= neighbor_size_x_ || cy < 0 || cy >= neighbor_size_y_) + return -1; + return cy * neighbor_size_x_ + cx; + } + + /** + * @brief compute the cell indices of a keypoint + * @param kp key point given in world coordinates [m, m] + * @param cx output cell index in x direction + * @param cy output cell index in y direction + */ + void pointToNeighborCells(const KeyPoint& kp, int& cx, int& cy) + { + cx = int((kp.x - offset_x_) / parameter_.max_distance_); + cy = int((kp.y - offset_y_) / parameter_.max_distance_); + } + + + Parameters parameter_; //< active parameters throughout computation + Parameters parameter_buffered_; //< the buffered parameters that are offered to dynamic reconfigure + std::mutex parameter_mutex_; //!< Mutex that keeps track about the ownership of the shared polygon instance + + private: + + /** + * @brief Callback for the dynamic_reconfigure node. + * + * This callback allows to modify parameters dynamically at runtime without restarting the node + * @param config Reference to the dynamic reconfigure config + * @param level Dynamic reconfigure level + */ + //void reconfigureCB(CostmapToPolygonsDBSMCCHConfig& config, uint32_t level); + + + PolygonContainerPtr polygons_; //!< Current shared container of polygons + std::mutex mutex_; //!< Mutex that keeps track about the ownership of the shared polygon instance + + //dynamic_reconfigure::Server* dynamic_recfg_; //!< Dynamic reconfigure server to allow config modifications at runtime + + nav2_costmap_2d::Costmap2D *costmap_; //!< Pointer to the costmap2d + +}; + + +} //end namespace teb_local_planner + +#endif /* COSTMAP_TO_POLYGONS_H_ */ diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_polygons_concave.h b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_polygons_concave.h new file mode 100644 index 0000000..4e062ea --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/costmap_to_polygons_concave.h @@ -0,0 +1,202 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef COSTMAP_TO_POLYGONS_CONCAVE_H_ +#define COSTMAP_TO_POLYGONS_CONCAVE_H_ + +#include +#include + +// dynamic reconfigure +//#include +//#include + + +namespace costmap_converter +{ + +/** + * @class CostmapToPolygonsDBSConcaveHull + * @brief This class converts the costmap_2d into a set of non-convex polygons (and points) + * + * All single points that do not define a cluster (noise) are also treated as polygon (represented as a single vertex) + * @todo change the class hierarchy to a clearer and more generic one + */ +class CostmapToPolygonsDBSConcaveHull : public CostmapToPolygonsDBSMCCH +{ + public: + + + + /** + * @brief Constructor + */ + CostmapToPolygonsDBSConcaveHull(); + + /** + * @brief Destructor + */ + virtual ~CostmapToPolygonsDBSConcaveHull(); + + /** + * @brief Initialize the plugin + * @param nh Nodehandle that defines the namespace for parameters + */ + virtual void initialize(rclcpp::Node::SharedPtr nh); + + + /** + * @brief This method performs the actual work (conversion of the costmap to polygons) + */ + virtual void compute(); + + protected: + + + /** + * @brief Compute the concave hull for a single cluster + * + * @remarks The last point is the same as the first one + * @param cluster list of keypoints that should be converted into a polygon + * @param depth Smaller depth: sharper surface, depth -> high value: convex hull + * @param[out] polygon the resulting convex polygon + */ + void concaveHull(std::vector& cluster, double depth, geometry_msgs::msg::Polygon& polygon); + + void concaveHullClusterCut(std::vector& cluster, double depth, geometry_msgs::msg::Polygon& polygon); + + template + std::size_t findNearestInnerPoint(PointLine line_start, PointLine line_end, const std::vector& cluster, const std::vector& hull, bool* found); + + + template + bool checkLineIntersection(const Point1& line1_start, const Point2& line1_end, const Point3& line2_start, const Point4& line2_end); + + template + bool checkLineIntersection(const std::vector& hull, const Point1& current_line_start, + const Point2& current_line_end, const Point3& test_line_start, const Point4& test_line_end); + + double concave_hull_depth_; + + private: + + /** + * @brief Callback for the dynamic_reconfigure node. + * + * This callback allows to modify parameters dynamically at runtime without restarting the node + * @param config Reference to the dynamic reconfigure config + * @param level Dynamic reconfigure level + */ +// void reconfigureCB(CostmapToPolygonsDBSConcaveHullConfig& config, uint32_t level); + +// dynamic_reconfigure::Server* dynamic_recfg_; //!< Dynamic reconfigure server to allow config modifications at runtime + + +}; + + +template +std::size_t CostmapToPolygonsDBSConcaveHull::findNearestInnerPoint(PointLine line_start, PointLine line_end, const std::vector& cluster, const std::vector& hull, bool* found) +{ + std::size_t nearsest_idx = 0; + double distance = 0; + *found = false; + + for (std::size_t i = 0; i < cluster.size(); ++i) + { + // Skip points that are already in the hull + if (std::find_if( hull.begin(), hull.end(), std::bind(isApprox2d, std::placeholders::_1, std::cref(cluster[i]), 1e-5) ) != hull.end() ) + continue; + + double dist = computeDistanceToLineSegment(cluster[i], line_start, line_end); + bool skip = false; + for (int j = 0; !skip && j < (int)hull.size() - 1; ++j) + { + double dist_temp = computeDistanceToLineSegment(cluster[i], hull[j], hull[j + 1]); + skip |= dist_temp < dist; + } + if (skip) + continue; + + if (!(*found) || dist < distance) + { + nearsest_idx = i; + distance = dist; + *found = true; + } + } + return nearsest_idx; +} + + +template +bool CostmapToPolygonsDBSConcaveHull::checkLineIntersection(const Point1& line1_start, const Point2& line1_end, const Point3& line2_start, const Point4& line2_end) +{ + double dx1 = line1_end.x - line1_start.x; + double dy1 = line1_end.y - line1_start.y; + double dx2 = line2_end.x - line2_start.x; + double dy2 = line2_end.y - line2_start.y; + double s = (-dy1 * (line1_start.x - line2_start.x) + dx1 * (line1_start.y - line2_start.y)) / (-dx2 * dy1 + dx1 * dy2); + double t = ( dx2 * (line1_start.y - line2_start.y) - dy2 * (line1_start.x - line2_start.x)) / (-dx2 * dy1 + dx1 * dy2); + return (s > 0 && s < 1 && t > 0 && t < 1); +} + + +template +bool CostmapToPolygonsDBSConcaveHull::checkLineIntersection(const std::vector& hull, const Point1& current_line_start, + const Point2& current_line_end, const Point3& test_line_start, const Point4& test_line_end) +{ + for (int i = 0; i < (int)hull.size() - 2; i++) + { + if (isApprox2d(current_line_start, hull[i], 1e-5) && isApprox2d(current_line_end, hull[i+1], 1e-5)) + { + continue; + } + + if (checkLineIntersection(test_line_start, test_line_end, hull[i], hull[i+1])) + { + return true; + } + } + return false; +} + + +} //end namespace teb_local_planner + +#endif /* COSTMAP_TO_POLYGONS_CONCAVE_H_ */ diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/misc.h b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/misc.h new file mode 100644 index 0000000..b3500a7 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/include/costmap_converter/misc.h @@ -0,0 +1,157 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef MISC_H_ +#define MISC_H_ + +#include +#include + +namespace costmap_converter +{ + +/** + * @brief Calculate the distance between a point and a straight line (with infinite length) + * @param point generic 2D point type defining the reference point + * @param line_pt1 generic 2D point as part of the line + * @param line_pt2 generic 2D point as part of the line + * @tparam Point generic point type that should provide x and y member fiels. + * @tparam LinePoint generic point type that should provide x and y member fiels. + * @return (minimum) euclidean distance to the line segment + */ +template +inline double computeDistanceToLine(const Point& point, const LinePoint& line_pt1, const LinePoint& line_pt2) +{ + double dx = line_pt2.x - line_pt1.x; + double dy = line_pt2.y - line_pt1.y; + + double length = std::sqrt(dx*dx + dy*dy); + + if (length>0) + return std::abs(dy * point.x - dx * point.y + line_pt2.x * line_pt1.y - line_pt2.y * line_pt1.x) / length; + + return std::sqrt(std::pow(point.x - line_pt1.x, 2) + std::pow(point.y - line_pt1.y, 2)); +} + + +/** + * @brief Calculate the squared distance between a point and a straight line segment + * @param point generic 2D point type defining the reference point + * @param line_start generic 2D point type defining the start of the line + * @param line_end generic 2D point type defining the end of the line + * @param[out] is_inbetween write \c true, if the point is placed inbetween start and end [optional] + * @tparam Point generic point type that should provide x and y member fiels. + * @tparam LinePoint generic point type that should provide x and y member fiels. + * @return (minimum) squared euclidean distance to the line segment + */ +template +inline double computeSquaredDistanceToLineSegment(const Point& point, const LinePoint& line_start, const LinePoint& line_end, bool* is_inbetween=NULL) +{ + double dx = line_end.x - line_start.x; + double dy = line_end.y - line_start.y; + + double length_sqr = dx*dx + dy*dy; + + double u = 0; + + if (length_sqr > 0) + u = ((point.x - line_start.x) * dx + (point.y - line_start.y) * dy) / length_sqr; + + if (is_inbetween) + *is_inbetween = (u>=0 && u<=1); + + if (u <= 0) + return std::pow(point.x-line_start.x,2) + std::pow(point.y-line_start.y,2); + + if (u >= 1) + return std::pow(point.x-line_end.x,2) + std::pow(point.y-line_end.y,2); + + return std::pow(point.x - (line_start.x+u*dx) ,2) + std::pow(point.y - (line_start.y+u*dy),2); +} + +/** + * @brief Calculate the distance between a point and a straight line segment + * @param point generic 2D point type defining the reference point + * @param line_start generic 2D point type defining the start of the line + * @param line_end generic 2D point type defining the end of the line + * @param[out] is_inbetween write \c true, if the point is placed inbetween start and end [optional] + * @tparam Point generic point type that should provide x and y member fiels. + * @tparam LinePoint generic point type that should provide x and y member fiels. + * @return (minimum) euclidean distance to the line segment + */ +template +inline double computeDistanceToLineSegment(const Point& point, const LinePoint& line_start, const LinePoint& line_end, bool* is_inbetween=NULL) +{ + return std::sqrt(computeSquaredDistanceToLineSegment(point, line_start, line_end, is_inbetween)); +} + + +/** + * @brief Calculate the distance between two 2d points + * @param pt1 generic 2D point + * @param pt2 generic 2D point + * @tparam Point1 generic point type that should provide x and y member fiels. + * @tparam Point2 generic point type that should provide x and y member fiels. + * @return euclidean distance to the line segment + */ +template +inline double norm2d(const Point1& pt1, const Point2& pt2) +{ + return std::sqrt( std::pow(pt2.x - pt1.x, 2) + std::pow(pt2.y - pt1.y, 2) ); +} + +/** + * @brief Check if two points are approximately defining the same one + * @param pt1 generic 2D point + * @param pt2 generic 2D point + * @param threshold define the minimum threshold |pt1.x-pt2.y| < tresh && |pt1.y-pt2.y| < tresh + * @tparam Point1 generic point type that should provide x and y member fiels. + * @tparam Point2 generic point type that should provide x and y member fiels. + * @return \c true, if similar, \c false otherwise + */ +template +inline bool isApprox2d(const Point1& pt1, const Point2& pt2, double threshold) +{ + return ( std::abs(pt2.x-pt1.x) + + + costmap_converter + 0.1.2 + + A ros package that includes plugins and nodes to convert occupied costmap2d cells to primitive types. + + + Christoph Rösmann + + Christoph Rösmann + Franz Albers + Otniel Rinaldo + + BSD + + http://wiki.ros.org/costmap_converter + + ament_cmake + + class_loader + costmap_converter_msgs + cv_bridge + geometry_msgs + nav2_costmap_2d + tf2 + pluginlib + rclcpp + + + ament_cmake_gtest + + + + ament_cmake + + diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_converter_node.cpp b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_converter_node.cpp new file mode 100644 index 0000000..e72a30f --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_converter_node.cpp @@ -0,0 +1,264 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann, Otniel Rinaldo + *********************************************************************/ +#include + +#include + +#include +#include +#include +#include + +#include +#include + +class CostmapStandaloneConversion : public rclcpp::Node { + public: + CostmapStandaloneConversion(const std::string node_name) + : rclcpp::Node(node_name), + converter_loader_("costmap_converter", + "costmap_converter::BaseCostmapToPolygons") { + costmap_ros_ = + std::make_shared("converter_costmap"); + costmap_thread_ = std::make_unique( + [](rclcpp_lifecycle::LifecycleNode::SharedPtr node) { + rclcpp::spin(node->get_node_base_interface()); + }, + costmap_ros_); + rclcpp_lifecycle::State state; + costmap_ros_->on_configure(state); + costmap_ros_->on_activate(state); + + n_ = std::shared_ptr(this, [](rclcpp::Node *) {}); + // load converter plugin from parameter server, otherwise set default + + std::string converter_plugin = + "costmap_converter::CostmapToPolygonsDBSMCCH"; + + declare_parameter("converter_plugin", + rclcpp::ParameterValue(converter_plugin)); + + get_parameter_or("converter_plugin", converter_plugin, + converter_plugin); + + try { + converter_ = converter_loader_.createSharedInstance(converter_plugin); + } catch (const pluginlib::PluginlibException &ex) { + RCLCPP_ERROR(get_logger(), + "The plugin failed to load for some reason. Error: %s", + ex.what()); + rclcpp::shutdown(); + return; + } + + RCLCPP_INFO(get_logger(), "Standalone costmap converter: %s loaded.", + converter_plugin.c_str()); + + std::string obstacles_topic = "costmap_obstacles"; + declare_parameter("obstacles_topic", + rclcpp::ParameterValue(obstacles_topic)); + get_parameter_or("obstacles_topic", obstacles_topic, + obstacles_topic); + + std::string polygon_marker_topic = "costmap_polygon_markers"; + declare_parameter("polygon_marker_topic", + rclcpp::ParameterValue(polygon_marker_topic)); + get_parameter_or("polygon_marker_topic", polygon_marker_topic, + polygon_marker_topic); + + obstacle_pub_ = + create_publisher( + obstacles_topic, 1000); + marker_pub_ = create_publisher( + polygon_marker_topic, 10); + + occupied_min_value_ = 100; + declare_parameter("occupied_min_value", + rclcpp::ParameterValue(occupied_min_value_)); + get_parameter_or("occupied_min_value", occupied_min_value_, + occupied_min_value_); + + std::string odom_topic = "/odom"; + declare_parameter("odom_topic", rclcpp::ParameterValue(odom_topic)); + get_parameter_or("odom_topic", odom_topic, odom_topic); + + if (converter_) { + converter_->setOdomTopic(odom_topic); + converter_->initialize(shared_from_this()); + converter_->startWorker(std::make_shared(5), + costmap_ros_->getCostmap(), false); + } + + pub_timer_ = n_->create_wall_timer( + std::chrono::milliseconds(200), + std::bind(&CostmapStandaloneConversion::publishCallback, this)); + } + + void publishCallback() { + costmap_converter::ObstacleArrayConstPtr obstacles = + converter_->getObstacles(); + + if (!obstacles) return; + + obstacle_pub_->publish(*obstacles); + + frame_id_ = costmap_ros_->getGlobalFrameID(); + + publishAsMarker(frame_id_, *obstacles); + } + + void publishAsMarker( + const std::string &frame_id, + const std::vector &polygonStamped) { + visualization_msgs::msg::Marker line_list; + line_list.header.frame_id = frame_id; + line_list.header.stamp = now(); + line_list.ns = "Polygons"; + line_list.action = visualization_msgs::msg::Marker::ADD; + line_list.pose.orientation.w = 1.0; + + line_list.id = 0; + line_list.type = visualization_msgs::msg::Marker::LINE_LIST; + + line_list.scale.x = 0.1; + line_list.color.g = 1.0; + line_list.color.a = 1.0; + + for (std::size_t i = 0; i < polygonStamped.size(); ++i) { + for (int j = 0; j < (int)polygonStamped[i].polygon.points.size() - 1; + ++j) { + geometry_msgs::msg::Point line_start; + line_start.x = polygonStamped[i].polygon.points[j].x; + line_start.y = polygonStamped[i].polygon.points[j].y; + line_list.points.push_back(line_start); + geometry_msgs::msg::Point line_end; + line_end.x = polygonStamped[i].polygon.points[j + 1].x; + line_end.y = polygonStamped[i].polygon.points[j + 1].y; + line_list.points.push_back(line_end); + } + // close loop for current polygon + if (!polygonStamped[i].polygon.points.empty() && + polygonStamped[i].polygon.points.size() != 2) { + geometry_msgs::msg::Point line_start; + line_start.x = polygonStamped[i].polygon.points.back().x; + line_start.y = polygonStamped[i].polygon.points.back().y; + line_list.points.push_back(line_start); + if (line_list.points.size() % 2 != 0) { + geometry_msgs::msg::Point line_end; + line_end.x = polygonStamped[i].polygon.points.front().x; + line_end.y = polygonStamped[i].polygon.points.front().y; + line_list.points.push_back(line_end); + } + } + } + marker_pub_->publish(line_list); + } + + void publishAsMarker( + const std::string &frame_id, + const costmap_converter_msgs::msg::ObstacleArrayMsg &obstacles) { + visualization_msgs::msg::Marker line_list; + line_list.header.frame_id = frame_id; + line_list.header.stamp = now(); + line_list.ns = "Polygons"; + line_list.action = visualization_msgs::msg::Marker::ADD; + line_list.pose.orientation.w = 1.0; + + line_list.id = 0; + line_list.type = visualization_msgs::msg::Marker::LINE_LIST; + + line_list.scale.x = 0.1; + line_list.color.g = 1.0; + line_list.color.a = 1.0; + + for (const auto &obstacle : obstacles.obstacles) { + for (int j = 0; j < (int)obstacle.polygon.points.size() - 1; ++j) { + geometry_msgs::msg::Point line_start; + line_start.x = obstacle.polygon.points[j].x; + line_start.y = obstacle.polygon.points[j].y; + line_list.points.push_back(line_start); + geometry_msgs::msg::Point line_end; + line_end.x = obstacle.polygon.points[j + 1].x; + line_end.y = obstacle.polygon.points[j + 1].y; + line_list.points.push_back(line_end); + } + // close loop for current polygon + if (!obstacle.polygon.points.empty() && + obstacle.polygon.points.size() != 2) { + geometry_msgs::msg::Point line_start; + line_start.x = obstacle.polygon.points.back().x; + line_start.y = obstacle.polygon.points.back().y; + line_list.points.push_back(line_start); + if (line_list.points.size() % 2 != 0) { + geometry_msgs::msg::Point line_end; + line_end.x = obstacle.polygon.points.front().x; + line_end.y = obstacle.polygon.points.front().y; + line_list.points.push_back(line_end); + } + } + } + marker_pub_->publish(line_list); + } + + private: + pluginlib::ClassLoader + converter_loader_; + std::shared_ptr converter_; + + rclcpp::Node::SharedPtr n_; + std::shared_ptr costmap_ros_; + std::unique_ptr costmap_thread_; + rclcpp::Publisher::SharedPtr + obstacle_pub_; + rclcpp::Publisher::SharedPtr marker_pub_; + rclcpp::TimerBase::SharedPtr pub_timer_; + + std::string frame_id_; + int occupied_min_value_; +}; + +int main(int argc, char **argv) { + rclcpp::init(argc, argv); + + auto convert_process = + std::make_shared("costmap_converter"); + + rclcpp::spin(convert_process); + + return 0; +} diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_dynamic_obstacles/background_subtractor.cpp b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_dynamic_obstacles/background_subtractor.cpp new file mode 100644 index 0000000..37256bc --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_dynamic_obstacles/background_subtractor.cpp @@ -0,0 +1,115 @@ +#include +//#include +#include + +BackgroundSubtractor::BackgroundSubtractor(const Params ¶meters): params_(parameters) +{ +} + +void BackgroundSubtractor::apply(const cv::Mat& image, cv::Mat& fg_mask, int shift_x, int shift_y) +{ + current_frame_ = image; + + // occupancy grids are empty only once in the beginning -> initialize variables + if (occupancy_grid_fast_.empty() && occupancy_grid_slow_.empty()) + { + occupancy_grid_fast_ = current_frame_; + occupancy_grid_slow_ = current_frame_; + previous_shift_x_ = shift_x; + previous_shift_y_ = shift_y; + return; + } + + // Shift previous occupancy grid to new location (match current_frame_) + int shift_relative_to_previous_pos_x_ = shift_x - previous_shift_x_; + int shift_relative_to_previous_pos_y_ = shift_y - previous_shift_y_; + previous_shift_x_ = shift_x; + previous_shift_y_ = shift_y; + + // if(shift_relative_to_previous_pos_x_ != 0 || shift_relative_to_previous_pos_y_ != 0) + transformToCurrentFrame(shift_relative_to_previous_pos_x_, shift_relative_to_previous_pos_y_); + + // cvv::debugFilter(occupancy_grid_fast_, currentFrame_, CVVISUAL_LOCATION); + + // Calculate normalized sum (mean) of nearest neighbors + int size = 3; // 3, 5, 7, .... + cv::Mat nearest_neighbor_mean_fast(occupancy_grid_fast_.size(), CV_8UC1); + cv::Mat nearest_neighbor_mean_slow(occupancy_grid_slow_.size(), CV_8UC1); + cv::boxFilter(occupancy_grid_fast_, nearest_neighbor_mean_fast, -1, cv::Size(size, size), cv::Point(-1, -1), true, + cv::BORDER_REPLICATE); + cv::boxFilter(occupancy_grid_slow_, nearest_neighbor_mean_slow, -1, cv::Size(size, size), cv::Point(-1, -1), true, + cv::BORDER_REPLICATE); + // cv::GaussianBlur(occupancy_grid_fast_, nearest_neighbor_mean_fast, cv::Size(size,size), 1, 1, cv::BORDER_REPLICATE); + // cv::GaussianBlur(occupancy_grid_fast_, nearest_neighbor_mean_fast, cv::Size(size,size), 1, 1, cv::BORDER_REPLICATE); + + // compute time mean value for each pixel according to learningrate alpha + // occupancy_grid_fast_ = beta*(alpha_fast*current_frame_ + (1.0-alpha_fast)*occupancy_grid_fast_) + (1-beta)*nearest_neighbor_mean_fast; + cv::addWeighted(current_frame_, params_.alpha_fast, occupancy_grid_fast_, (1 - params_.alpha_fast), 0, occupancy_grid_fast_); + cv::addWeighted(occupancy_grid_fast_, params_.beta, nearest_neighbor_mean_fast, (1 - params_.beta), 0, occupancy_grid_fast_); + // occupancy_grid_slow_ = beta*(alpha_slow*current_frame_ + (1.0-alpha_slow)*occupancy_grid_slow) + (1-beta)*nearest_neighbor_mean_slow; + cv::addWeighted(current_frame_, params_.alpha_slow, occupancy_grid_slow_, (1 - params_.alpha_slow), 0, occupancy_grid_slow_); + cv::addWeighted(occupancy_grid_slow_, params_.beta, nearest_neighbor_mean_slow, (1 - params_.beta), 0, occupancy_grid_slow_); + + // 1) Obstacles should be detected after a minimum response of the fast filter + // occupancy_grid_fast_ > min_occupancy_probability + cv::threshold(occupancy_grid_fast_, occupancy_grid_fast_, params_.min_occupancy_probability, 0 /*unused*/, cv::THRESH_TOZERO); + // 2) Moving obstacles have a minimum difference between the responses of the slow and fast filter + // occupancy_grid_fast_-occupancy_grid_slow_ > min_sep_between_fast_and_slow_filter + cv::threshold(occupancy_grid_fast_ - occupancy_grid_slow_, fg_mask, params_.min_sep_between_fast_and_slow_filter, 255, + cv::THRESH_BINARY); + // 3) Dismiss static obstacles + // nearest_neighbor_mean_slow < max_occupancy_neighbors + cv::threshold(nearest_neighbor_mean_slow, nearest_neighbor_mean_slow, params_.max_occupancy_neighbors, 255, cv::THRESH_BINARY_INV); + cv::bitwise_and(nearest_neighbor_mean_slow, fg_mask, fg_mask); + + //visualize("Current frame", currentFrame_); + cv::Mat setBorderToZero = cv::Mat(current_frame_.size(), CV_8UC1, 0.0); + int border = 5; + setBorderToZero(cv::Rect(border, border, current_frame_.cols-2*border, current_frame_.rows-2*border)) = 255; + + cv::bitwise_and(setBorderToZero, fg_mask, fg_mask); + + // cv::imwrite("/home/albers/Desktop/currentFrame.png", currentFrame_); + // visualize("Foreground mask", fgMask); + + // Closing Operation + cv::Mat element = cv::getStructuringElement(cv::MORPH_ELLIPSE, + cv::Size(2*params_.morph_size + 1, 2*params_.morph_size + 1), + cv::Point(params_.morph_size, params_.morph_size)); + cv::dilate(fg_mask, fg_mask, element); + cv::dilate(fg_mask, fg_mask, element); + cv::erode(fg_mask, fg_mask, element); +} + +void BackgroundSubtractor::transformToCurrentFrame(int shift_x, int shift_y) +{ + // TODO: initialize with current_frame (first observed image) rather than zeros + + // Translate (shift) image in costmap coordinates + // in cv::Mat: shift X -> to the left; shift y -> to the top + cv::Mat temp_fast, temp_slow; + cv::Mat translation_mat = (cv::Mat_(2, 3, CV_64F) << 1, 0, -shift_x, 0, 1, -shift_y); + cv::warpAffine(occupancy_grid_fast_, temp_fast, translation_mat, occupancy_grid_fast_.size()); // can't operate in-place + cv::warpAffine(occupancy_grid_slow_, temp_slow, translation_mat, occupancy_grid_slow_.size()); // can't operate in-place + + // cvv::debugFilter(occupancy_grid_fast_, temp_fast); + + occupancy_grid_fast_ = temp_fast; + occupancy_grid_slow_ = temp_slow; +} + +void BackgroundSubtractor::visualize(const std::string& name, const cv::Mat& image) +{ + if (!image.empty()) + { + cv::Mat im = image.clone(); + cv::flip(im, im, 0); + cv::imshow(name, im); + cv::waitKey(1); + } +} + +void BackgroundSubtractor::updateParameters(const Params ¶meters) +{ + params_ = parameters; +} diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_dynamic_obstacles/blob_detector.cpp b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_dynamic_obstacles/blob_detector.cpp new file mode 100755 index 0000000..c7352f4 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_dynamic_obstacles/blob_detector.cpp @@ -0,0 +1,193 @@ +#include +#include +#include + +BlobDetector::BlobDetector(const SimpleBlobDetector::Params& parameters) : params_(parameters) {} + +cv::Ptr BlobDetector::create(const cv::SimpleBlobDetector::Params& params) +{ + return cv::Ptr (new BlobDetector(params)); // compatibility with older versions + //return cv::makePtr(params); +} + +void BlobDetector::detect(const cv::Mat& image, std::vector& keypoints, const cv::Mat&) +{ + // TODO: support mask + contours_.clear(); + + keypoints.clear(); + cv::Mat grayscale_image; + if (image.channels() == 3) + cv::cvtColor(image, grayscale_image, cv::COLOR_BGR2GRAY); + else + grayscale_image = image; + + if (grayscale_image.type() != CV_8UC1) + { + //CV_Error(cv::Error::StsUnsupportedFormat, "Blob detector only supports 8-bit images!"); + std::cerr << "Blob detector only supports 8-bit images!\n"; + } + + std::vector> centers; + std::vector> contours; + for (double thresh = params_.minThreshold; thresh < params_.maxThreshold; thresh += params_.thresholdStep) + { + cv::Mat binarized_image; + cv::threshold(grayscale_image, binarized_image, thresh, 255, cv::THRESH_BINARY); + + std::vector
cur_centers; + std::vector> cur_contours, new_contours; + findBlobs(grayscale_image, binarized_image, cur_centers, cur_contours); + std::vector> new_centers; + for (std::size_t i = 0; i < cur_centers.size(); ++i) + { + bool isNew = true; + for (std::size_t j = 0; j < centers.size(); ++j) + { + double dist = cv::norm(centers[j][centers[j].size() / 2].location - cur_centers[i].location); + isNew = dist >= params_.minDistBetweenBlobs && dist >= centers[j][centers[j].size() / 2].radius && + dist >= cur_centers[i].radius; + if (!isNew) + { + centers[j].push_back(cur_centers[i]); + + size_t k = centers[j].size() - 1; + while (k > 0 && centers[j][k].radius < centers[j][k - 1].radius) + { + centers[j][k] = centers[j][k - 1]; + k--; + } + centers[j][k] = cur_centers[i]; + + break; + } + } + if (isNew) + { + new_centers.push_back(std::vector
(1, cur_centers[i])); + new_contours.push_back(cur_contours[i]); + } + } + std::copy(new_centers.begin(), new_centers.end(), std::back_inserter(centers)); + std::copy(new_contours.begin(), new_contours.end(), std::back_inserter(contours)); + } + + for (size_t i = 0; i < centers.size(); ++i) + { + if (centers[i].size() < params_.minRepeatability) + continue; + cv::Point2d sum_point(0, 0); + double normalizer = 0; + for (std::size_t j = 0; j < centers[i].size(); ++j) + { + sum_point += centers[i][j].confidence * centers[i][j].location; + normalizer += centers[i][j].confidence; + } + sum_point *= (1. / normalizer); + cv::KeyPoint kpt(sum_point, (float)(centers[i][centers[i].size() / 2].radius)); + keypoints.push_back(kpt); + contours_.push_back(contours[i]); + } +} + +void BlobDetector::findBlobs(const cv::Mat& image, const cv::Mat& binary_image, std::vector
& centers, + std::vector>& cur_contours) const +{ + (void)image; + centers.clear(); + cur_contours.clear(); + + std::vector> contours; + cv::Mat tmp_binary_image = binary_image.clone(); + cv::findContours(tmp_binary_image, contours, cv::RETR_LIST, cv::CHAIN_APPROX_SIMPLE); + + for (std::size_t contour_idx = 0; contour_idx < contours.size(); ++contour_idx) + { + Center center; + center.confidence = 1; + cv::Moments moms = cv::moments(cv::Mat(contours[contour_idx])); + if (params_.filterByArea) + { + double area = moms.m00; + if (area < params_.minArea || area >= params_.maxArea) + continue; + } + + if (params_.filterByCircularity) + { + double area = moms.m00; + double perimeter = cv::arcLength(cv::Mat(contours[contour_idx]), true); + double ratio = 4 * CV_PI * area / (perimeter * perimeter); + if (ratio < params_.minCircularity || ratio >= params_.maxCircularity) + continue; + } + + if (params_.filterByInertia) + { + double denominator = std::sqrt(std::pow(2 * moms.mu11, 2) + std::pow(moms.mu20 - moms.mu02, 2)); + const double eps = 1e-2; + double ratio; + if (denominator > eps) + { + double cosmin = (moms.mu20 - moms.mu02) / denominator; + double sinmin = 2 * moms.mu11 / denominator; + double cosmax = -cosmin; + double sinmax = -sinmin; + + double imin = 0.5 * (moms.mu20 + moms.mu02) - 0.5 * (moms.mu20 - moms.mu02) * cosmin - moms.mu11 * sinmin; + double imax = 0.5 * (moms.mu20 + moms.mu02) - 0.5 * (moms.mu20 - moms.mu02) * cosmax - moms.mu11 * sinmax; + ratio = imin / imax; + } + else + { + ratio = 1; + } + + if (ratio < params_.minInertiaRatio || ratio >= params_.maxInertiaRatio) + continue; + + center.confidence = ratio * ratio; + } + + if (params_.filterByConvexity) + { + std::vector hull; + cv::convexHull(cv::Mat(contours[contour_idx]), hull); + double area = cv::contourArea(cv::Mat(contours[contour_idx])); + double hullArea = cv::contourArea(cv::Mat(hull)); + double ratio = area / hullArea; + if (ratio < params_.minConvexity || ratio >= params_.maxConvexity) + continue; + } + + if (moms.m00 == 0.0) + continue; + center.location = cv::Point2d(moms.m10 / moms.m00, moms.m01 / moms.m00); + + if (params_.filterByColor) + { + if (binary_image.at(cvRound(center.location.y), cvRound(center.location.x)) != params_.blobColor) + continue; + } + + // compute blob radius + { + std::vector dists; + for (std::size_t point_idx = 0; point_idx < contours[contour_idx].size(); ++point_idx) + { + cv::Point2d pt = contours[contour_idx][point_idx]; + dists.push_back(cv::norm(center.location - pt)); + } + std::sort(dists.begin(), dists.end()); + center.radius = (dists[(dists.size() - 1) / 2] + dists[dists.size() / 2]) / 2.; + } + + centers.push_back(center); + cur_contours.push_back(contours[contour_idx]); + } +} + +void BlobDetector::updateParameters(const Params& parameters) +{ + params_ = parameters; +} diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_dynamic_obstacles/costmap_to_dynamic_obstacles.cpp b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_dynamic_obstacles/costmap_to_dynamic_obstacles.cpp new file mode 100644 index 0000000..5848124 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_dynamic_obstacles/costmap_to_dynamic_obstacles.cpp @@ -0,0 +1,489 @@ +#include + +#include +#include +#include +#include + +PLUGINLIB_EXPORT_CLASS(costmap_converter::CostmapToDynamicObstacles, costmap_converter::BaseCostmapToPolygons) + +namespace costmap_converter +{ + +CostmapToDynamicObstacles::CostmapToDynamicObstacles() : BaseCostmapToDynamicObstacles() +{ + ego_vel_.x = ego_vel_.y = ego_vel_.z = 0; + costmap_ = nullptr; +// dynamic_recfg_ = nullptr; +} + +CostmapToDynamicObstacles::~CostmapToDynamicObstacles() +{ +// if(dynamic_recfg_ != nullptr) +// delete dynamic_recfg_; +} + +void CostmapToDynamicObstacles::initialize(rclcpp::Node::SharedPtr nh) +{ + BaseCostmapToPolygons::initialize(nh); + + costmap_ = nullptr; + + // We need the odometry from the robot to compensate the ego motion +// rclcpp::Node::SharedPtr gn; // create odom topic w.r.t. global node handle + odom_sub_ = nh->create_subscription( + odom_topic_, + rclcpp::SystemDefaultsQoS(), + std::bind(&CostmapToDynamicObstacles::odomCallback, this, std::placeholders::_1)); + + nh->get_parameter_or("publish_static_obstacles", publish_static_obstacles_, publish_static_obstacles_); + + ////////////////////////////////// + // Foreground detection parameters + BackgroundSubtractor::Params bg_sub_params; + + bg_sub_params.alpha_slow = 0.3; + nh->get_parameter_or("alpha_slow", bg_sub_params.alpha_slow, bg_sub_params.alpha_slow); + + bg_sub_params.alpha_fast = 0.85; + nh->get_parameter_or("alpha_fast", bg_sub_params.alpha_fast, bg_sub_params.alpha_fast); + + bg_sub_params.beta = 0.85; + nh->get_parameter_or("beta", bg_sub_params.beta, bg_sub_params.beta); + + bg_sub_params.min_occupancy_probability = 180; + nh->get_parameter_or("min_occupancy_probability", bg_sub_params.min_occupancy_probability, bg_sub_params.min_occupancy_probability); + + bg_sub_params.min_sep_between_fast_and_slow_filter = 80; + nh->get_parameter_or("min_sep_between_slow_and_fast_filter", bg_sub_params.min_sep_between_fast_and_slow_filter, bg_sub_params.min_sep_between_fast_and_slow_filter); + + bg_sub_params.max_occupancy_neighbors = 100; + nh->get_parameter_or("max_occupancy_neighbors", bg_sub_params.max_occupancy_neighbors, bg_sub_params.max_occupancy_neighbors); + + bg_sub_params.morph_size = 1; + nh->get_parameter_or("morph_size", bg_sub_params.morph_size, bg_sub_params.morph_size); + + bg_sub_ = std::unique_ptr(new BackgroundSubtractor(bg_sub_params)); + + //////////////////////////// + // Blob detection parameters + BlobDetector::Params blob_det_params; + + blob_det_params.filterByColor = true; // actually filterByIntensity, always true + blob_det_params.blobColor = 255; // Extract light blobs + blob_det_params.thresholdStep = 256; // Input for blob detection is already a binary image + blob_det_params.minThreshold = 127; + blob_det_params.maxThreshold = 255; + blob_det_params.minRepeatability = 1; + + blob_det_params.minDistBetweenBlobs = 10; + nh->get_parameter_or("min_distance_between_blobs", blob_det_params.minDistBetweenBlobs, blob_det_params.minDistBetweenBlobs); + + blob_det_params.filterByArea = true; + nh->get_parameter_or("filter_by_area", blob_det_params.filterByArea, blob_det_params.filterByArea); + + blob_det_params.minArea = 3; // Filter out blobs with less pixels + nh->get_parameter_or("min_area", blob_det_params.minArea, blob_det_params.minArea); + + blob_det_params.maxArea = 300; + nh->get_parameter_or("max_area", blob_det_params.maxArea, blob_det_params.maxArea); + + blob_det_params.filterByCircularity = true; // circularity = 4*pi*area/perimeter^2 + nh->get_parameter_or("filter_by_circularity", blob_det_params.filterByCircularity, blob_det_params.filterByCircularity); + + blob_det_params.minCircularity = 0.2; + nh->get_parameter_or("min_circularity", blob_det_params.minCircularity, blob_det_params.minCircularity); + + blob_det_params.maxCircularity = 1; // maximal 1 (in case of a circle) + nh->get_parameter_or("max_circularity", blob_det_params.maxCircularity, blob_det_params.maxCircularity); + + blob_det_params.filterByInertia = true; // Filter blobs based on their elongation + nh->get_parameter_or("filter_by_intertia", blob_det_params.filterByInertia, blob_det_params.filterByInertia); + + blob_det_params.minInertiaRatio = 0.2; // minimal 0 (in case of a line) + nh->get_parameter_or("min_inertia_ratio", blob_det_params.minInertiaRatio, blob_det_params.minInertiaRatio); + + blob_det_params.maxInertiaRatio = 1; // maximal 1 (in case of a circle) + nh->get_parameter_or("max_intertia_ratio", blob_det_params.maxInertiaRatio, blob_det_params.maxInertiaRatio); + + blob_det_params.filterByConvexity = false; // Area of the Blob / Area of its convex hull + nh->get_parameter_or("filter_by_convexity", blob_det_params.filterByConvexity, blob_det_params.filterByConvexity); + + blob_det_params.minConvexity = 0; // minimal 0 + nh->get_parameter_or("min_convexity", blob_det_params.minConvexity, blob_det_params.minConvexity); + + blob_det_params.maxConvexity = 1; // maximal 1 + nh->get_parameter_or("max_convexity", blob_det_params.maxConvexity, blob_det_params.maxConvexity); + + blob_det_ = BlobDetector::create(blob_det_params); + + //////////////////////////////////// + // Tracking parameters + CTracker::Params tracker_params; + tracker_params.dt = 0.2; + nh->get_parameter_or("dt", tracker_params.dt, tracker_params.dt); + + tracker_params.dist_thresh = 60.0; + nh->get_parameter_or("dist_thresh", tracker_params.dist_thresh, tracker_params.dist_thresh); + + tracker_params.max_allowed_skipped_frames = 3; + nh->get_parameter_or("max_allowed_skipped_frames", tracker_params.max_allowed_skipped_frames, tracker_params.max_allowed_skipped_frames); + + tracker_params.max_trace_length = 10; + nh->get_parameter_or("max_trace_length", tracker_params.max_trace_length, tracker_params.max_trace_length); + + tracker_ = std::unique_ptr(new CTracker(tracker_params)); + + + //////////////////////////////////// + // Static costmap conversion parameters + std::string static_converter_plugin = "costmap_converter::CostmapToPolygonsDBSMCCH"; + nh->get_parameter_or("static_converter_plugin", static_converter_plugin, static_converter_plugin); + loadStaticCostmapConverterPlugin(static_converter_plugin, nh); + + +// setup dynamic reconfigure +// dynamic_recfg_ = new dynamic_reconfigure::Server(nh); +// dynamic_reconfigure::Server::CallbackType cb = boost::bind(&CostmapToDynamicObstacles::reconfigureCB, this, _1, _2); +// dynamic_recfg_->setCallback(cb); +} + +void CostmapToDynamicObstacles::compute() +{ + if (costmap_mat_.empty()) + return; + + /////////////////////////// Foreground detection //////////////////////////////////// + // Dynamic obstacles are separated from static obstacles + int origin_x = round(costmap_->getOriginX() / costmap_->getResolution()); + int origin_y = round(costmap_->getOriginY() / costmap_->getResolution()); + // ROS_INFO("Origin x [m]: %f Origin_y [m]: %f", costmap_->getOriginX(), costmap_->getOriginY()); + // ROS_INFO("Origin x [px]: %d \t Origin_y [px]: %d", originX, originY); + + bg_sub_->apply(costmap_mat_, fg_mask_, origin_x, origin_y); + + // if no foreground object is detected, no ObstacleMsgs need to be published + if (fg_mask_.empty()) + return; + + cv::Mat bg_mat; + if (publish_static_obstacles_) + { + // Get static obstacles + bg_mat = costmap_mat_ - fg_mask_; + // visualize("bg_mat", bg_mat); + } + + + /////////////////////////////// Blob detection ///////////////////////////////////// + // Centers and contours of Blobs are detected + blob_det_->detect(fg_mask_, keypoints_); + std::vector> contours = blob_det_->getContours(); + + + ////////////////////////////// Tracking //////////////////////////////////////////// + // Objects are assigned to objects from previous frame based on Hungarian Algorithm + // Object velocities are estimated using a Kalman Filter + std::vector detected_centers(keypoints_.size()); + for (size_t i = 0; i < keypoints_.size(); i++) + { + detected_centers.at(i).x = keypoints_.at(i).pt.x; + detected_centers.at(i).y = keypoints_.at(i).pt.y; + detected_centers.at(i).z = 0; // Currently unused! + } + + tracker_->Update(detected_centers, contours); + + + ///////////////////////////////////// Output /////////////////////////////////////// + /* + cv::Mat fg_mask_with_keypoints = cv::Mat::zeros(fg_mask.size(), CV_8UC3); + cv::cvtColor(fg_mask, fg_mask_with_keypoints, cv::COLOR_GRAY2BGR); + + for (int i = 0; i < (int)tracker_->tracks.size(); ++i) + cv::rectangle(fg_mask_with_keypoints, cv::boundingRect(tracker_->tracks[i]->getLastContour()), + cv::Scalar(0, 0, 255), 1); + + //visualize("fgMaskWithKeyPoints", fgMaskWithKeypoints); + //cv::imwrite("/home/albers/Desktop/fgMask.png", fgMask); + //cv::imwrite("/home/albers/Desktop/fgMaskWithKeyPoints.png", fgMaskWithKeypoints); + */ + + //////////////////////////// Fill ObstacleContainerPtr ///////////////////////////// + ObstacleArrayPtr obstacles(new costmap_converter_msgs::msg::ObstacleArrayMsg); + // header.seq is automatically filled + obstacles->header.stamp = now(); + obstacles->header.frame_id = "/map"; //Global frame /map + + // For all tracked objects + for (unsigned int i = 0; i < (unsigned int)tracker_->tracks.size(); ++i) + { + geometry_msgs::msg::Polygon polygon; + + // TODO directly create polygon inside getContour and avoid copy + std::vector contour; + getContour(i, contour); // this method also transforms map to world coordinates + + // convert contour to polygon + for (const Point_t& pt : contour) + { + polygon.points.emplace_back(); + polygon.points.back().x = pt.x; + polygon.points.back().y = pt.y; + polygon.points.back().z = 0; + } + + obstacles->obstacles.emplace_back(); + obstacles->obstacles.back().polygon = polygon; + + // Set obstacle ID + obstacles->obstacles.back().id = tracker_->tracks.at(i)->track_id; + + // Set orientation + geometry_msgs::msg::QuaternionStamped orientation; + + Point_t vel = getEstimatedVelocityOfObject(i); + double yaw = std::atan2(vel.y, vel.x); + //ROS_INFO("yaw: %f", yaw); + tf2::Quaternion q; + q.setRPY(0, 0, yaw); + obstacles->obstacles.back().orientation = tf2::toMsg(q); + + // Set velocity + geometry_msgs::msg::TwistWithCovariance velocities; + //velocities.twist.linear.x = std::sqrt(vel.x*vel.x + vel.y*vel.y); + //velocities.twist.linear.y = 0; + velocities.twist.linear.x = vel.x; + velocities.twist.linear.y = vel.y; // TODO(roesmann): don't we need to consider the transformation between opencv's and costmap's coordinate frames? + velocities.twist.linear.z = 0; + velocities.twist.angular.x = 0; + velocities.twist.angular.y = 0; + velocities.twist.angular.z = 0; + + // TODO: use correct covariance matrix + velocities.covariance = {1, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, + 0, 0, 0, 1, 0, 0, + 0, 0, 0, 0, 1, 0, + 0, 0, 0, 0, 0, 1}; + + obstacles->obstacles.back().velocities = velocities; + } + + ////////////////////////// Static obstacles //////////////////////////// + if (publish_static_obstacles_) + { + uchar* img_data = bg_mat.data; + int width = bg_mat.cols; + int height = bg_mat.rows; + int stride = bg_mat.step; + + if (stackedCostmapConversion()) + { + // Create new costmap with static obstacles (background) + std::shared_ptr static_costmap(new nav2_costmap_2d::Costmap2D(costmap_->getSizeInCellsX(), + costmap_->getSizeInCellsY(), + costmap_->getResolution(), + costmap_->getOriginX(), + costmap_->getOriginY())); + for(int i = 0; i < height; i++) + { + for(int j = 0; j < width; j++) + { + static_costmap->setCost(j, i, img_data[i * stride + j]); + } + } + + // Apply static obstacle conversion plugin + setStaticCostmap(static_costmap); + convertStaticObstacles(); + + // Store converted static obstacles for publishing + auto static_polygons = getStaticPolygons(); + for (auto it = static_polygons->begin(); it != static_polygons->end(); ++it) + { + obstacles->obstacles.emplace_back(); + obstacles->obstacles.back().polygon = *it; + obstacles->obstacles.back().velocities.twist.linear.x = 0; + obstacles->obstacles.back().velocities.twist.linear.y = 0; + obstacles->obstacles.back().id = -1; + } + } + // Otherwise leave static obstacles point-shaped + else + { + for(int i = 0; i < height; i++) + { + for(int j = 0; j < width; j++) + { + uchar value = img_data[i * stride + j]; + if (value > 0) + { + // obstacle found + obstacles->obstacles.emplace_back(); + geometry_msgs::msg::Point32 pt; + pt.x = (double)j*costmap_->getResolution() + costmap_->getOriginX(); + pt.y = (double)i*costmap_->getResolution() + costmap_->getOriginY(); + obstacles->obstacles.back().polygon.points.push_back(pt); + obstacles->obstacles.back().velocities.twist.linear.x = 0; + obstacles->obstacles.back().velocities.twist.linear.y = 0; + obstacles->obstacles.back().id = -1; + } + } + } + } + } + + updateObstacleContainer(obstacles); +} + +void CostmapToDynamicObstacles::setCostmap2D(nav2_costmap_2d::Costmap2D* costmap) +{ + if (!costmap) + return; + + costmap_ = costmap; + + updateCostmap2D(); +} + +void CostmapToDynamicObstacles::updateCostmap2D() +{ + if (!costmap_->getMutex()) + { + RCLCPP_ERROR(getLogger(), "Cannot update costmap since the mutex pointer is null"); + return; + } + std::unique_lock lock(*costmap_->getMutex()); + + // Initialize costmapMat_ directly with the unsigned char array of costmap_ + //costmap_mat_ = cv::Mat(costmap_->getSizeInCellsX(), costmap_->getSizeInCellsY(), CV_8UC1, + // costmap_->getCharMap()).clone(); // Deep copy: TODO + costmap_mat_ = cv::Mat(costmap_->getSizeInCellsX(), costmap_->getSizeInCellsY(), CV_8UC1, + costmap_->getCharMap()); +} + +ObstacleArrayConstPtr CostmapToDynamicObstacles::getObstacles() +{ + std::lock_guard lock(mutex_); + return obstacles_; +} + +void CostmapToDynamicObstacles::updateObstacleContainer(ObstacleArrayPtr obstacles) +{ + std::lock_guard lock(mutex_); + obstacles_ = obstacles; +} + +Point_t CostmapToDynamicObstacles::getEstimatedVelocityOfObject(unsigned int idx) +{ + // vel [px/s] * costmapResolution [m/px] = vel [m/s] + Point_t vel = tracker_->tracks.at(idx)->getEstimatedVelocity() * costmap_->getResolution() + ego_vel_; + + //ROS_INFO("vel x: %f, vel y: %f, vel z: %f", vel.x, vel.y, vel.z); + // velocity in /map frame + return vel; +} + +void CostmapToDynamicObstacles::odomCallback(const nav_msgs::msg::Odometry::ConstSharedPtr msg) +{ + RCLCPP_INFO_ONCE(getLogger(), "CostmapToDynamicObstacles: odom received."); + + tf2::Quaternion pose; + tf2::fromMsg(msg->pose.pose.orientation, pose); + + tf2::Vector3 twistLinear; + // tf2::fromMsg(msg->twist.twist.linear, twistLinear); // not available in tf2 + twistLinear.setX(msg->twist.twist.linear.x); + twistLinear.setY(msg->twist.twist.linear.y); + twistLinear.setZ(msg->twist.twist.linear.z); + + + // velocity of the robot in x, y and z coordinates + tf2::Vector3 vel = tf2::quatRotate(pose, twistLinear); + ego_vel_.x = vel.x(); + ego_vel_.y = vel.y(); + ego_vel_.z = vel.z(); +} + +//void CostmapToDynamicObstacles::reconfigureCB(CostmapToDynamicObstaclesConfig& config, uint32_t level) +//{ +// publish_static_obstacles_ = config.publish_static_obstacles; + +// // BackgroundSubtraction Parameters +// BackgroundSubtractor::Params bg_sub_params; +// bg_sub_params.alpha_slow = config.alpha_slow; +// bg_sub_params.alpha_fast = config.alpha_fast; +// bg_sub_params.beta = config.beta; +// bg_sub_params.min_sep_between_fast_and_slow_filter = config.min_sep_between_slow_and_fast_filter; +// bg_sub_params.min_occupancy_probability = config.min_occupancy_probability; +// bg_sub_params.max_occupancy_neighbors = config.max_occupancy_neighbors; +// bg_sub_params.morph_size = config.morph_size; +// bg_sub_->updateParameters(bg_sub_params); + +// // BlobDetector Parameters +// BlobDetector::Params blob_det_params; +// // necessary, because blobDetParams are otherwise initialized with default values for dark blobs +// blob_det_params.filterByColor = true; // actually filterByIntensity, always true +// blob_det_params.blobColor = 255; // Extract light blobs +// blob_det_params.thresholdStep = 256; // Input for blobDetection is already a binary image +// blob_det_params.minThreshold = 127; +// blob_det_params.maxThreshold = 255; +// blob_det_params.minRepeatability = 1; +// blob_det_params.minDistBetweenBlobs = config.min_distance_between_blobs; // TODO: Currently not working as expected +// blob_det_params.filterByArea = config.filter_by_area; +// blob_det_params.minArea = config.min_area; +// blob_det_params.maxArea = config.max_area; +// blob_det_params.filterByCircularity = config.filter_by_circularity; +// blob_det_params.minCircularity = config.min_circularity; +// blob_det_params.maxCircularity = config.max_circularity; +// blob_det_params.filterByInertia = config.filter_by_inertia; +// blob_det_params.minInertiaRatio = config.min_inertia_ratio; +// blob_det_params.maxInertiaRatio = config.max_inertia_ratio; +// blob_det_params.filterByConvexity = config.filter_by_convexity; +// blob_det_params.minConvexity = config.min_convexity; +// blob_det_params.maxConvexity = config.max_convexity; +// blob_det_->updateParameters(blob_det_params); + +// // Tracking Parameters +// CTracker::Params tracking_params; +// tracking_params.dt = config.dt; +// tracking_params.dist_thresh = config.dist_thresh; +// tracking_params.max_allowed_skipped_frames = config.max_allowed_skipped_frames; +// tracking_params.max_trace_length = config.max_trace_length; +// tracker_->updateParameters(tracking_params); +//} + +void CostmapToDynamicObstacles::getContour(unsigned int idx, std::vector& contour) +{ + assert(!tracker_->tracks.empty() && idx < tracker_->tracks.size()); + + contour.clear(); + + // contour [px] * costmapResolution [m/px] = contour [m] + std::vector contour2i = tracker_->tracks.at(idx)->getLastContour(); + + contour.reserve(contour2i.size()); + + Point_t costmap_origin(costmap_->getOriginX(), costmap_->getOriginY(), 0); + + for (std::size_t i = 0; i < contour2i.size(); ++i) + { + contour.push_back((Point_t(contour2i.at(i).x, contour2i.at(i).y, 0.0)*costmap_->getResolution()) + + costmap_origin); // Shift to /map + } + +} + +void CostmapToDynamicObstacles::visualize(const std::string& name, const cv::Mat& image) +{ + if (!image.empty()) + { + cv::Mat im = image.clone(); + cv::flip(im, im, 0); + cv::imshow(name, im); + cv::waitKey(1); + } +} +} diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/Ctracker.cpp b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/Ctracker.cpp new file mode 100644 index 0000000..80ddde4 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/Ctracker.cpp @@ -0,0 +1,130 @@ +// Based on https://github.com/Smorodov/Multitarget-tracker/tree/master/Tracker, GPLv3 +// Refer to README.md in this directory. + +#include + +// --------------------------------------------------------------------------- +// Tracker. Manage tracks. Create, remove, update. +// --------------------------------------------------------------------------- +CTracker::CTracker(const Params ¶meters) + : params(parameters), + NextTrackID(0) +{ +} +// --------------------------------------------------------------------------- +// +// --------------------------------------------------------------------------- +void CTracker::Update(const std::vector& detectedCentroid, const std::vector< std::vector >& contours) +{ + // Each contour has a centroid + assert(detectedCentroid.size() == contours.size()); + + // ----------------------------------- + // If there is no tracks yet, then every cv::Point begins its own track. + // ----------------------------------- + if (tracks.size() == 0) + { + // If no tracks yet + for (size_t i = 0; i < detectedCentroid.size(); ++i) + { + tracks.push_back( + std::unique_ptr(new CTrack(detectedCentroid[i], contours[i], params.dt, NextTrackID++))); + } + } + + size_t N = tracks.size(); + size_t M = detectedCentroid.size(); + + assignments_t assignment; + + if (!tracks.empty()) + { + // Distance matrix of N-th Track to the M-th detectedCentroid + distMatrix_t Cost(N * M); + + // calculate distance between the blobs centroids + for (size_t i = 0; i < tracks.size(); i++) + { + for (size_t j = 0; j < detectedCentroid.size(); j++) + { + Cost[i + j * N] = tracks[i]->CalcDist(detectedCentroid[j]); + } + } + + // ----------------------------------- + // Solving assignment problem (tracks and predictions of Kalman filter) + // ----------------------------------- + AssignmentProblemSolver APS; + APS.Solve(Cost, N, M, assignment, AssignmentProblemSolver::optimal); + + // ----------------------------------- + // clean assignment from pairs with large distance + // ----------------------------------- + for (size_t i = 0; i < assignment.size(); i++) + { + if (assignment[i] != -1) + { + if (Cost[i + assignment[i] * N] > params.dist_thresh) + { + assignment[i] = -1; + tracks[i]->skipped_frames = 1; + } + } + else + { + // If track have no assigned detect, then increment skipped frames counter. + tracks[i]->skipped_frames++; + } + } + + // ----------------------------------- + // If track didn't get detects long time, remove it. + // ----------------------------------- + for (int i = 0; i < static_cast(tracks.size()); i++) + { + if ((int)tracks[i]->skipped_frames > params.max_allowed_skipped_frames) + { + tracks.erase(tracks.begin() + i); + assignment.erase(assignment.begin() + i); + i--; + } + } + } + + // ----------------------------------- + // Search for unassigned detects and start new tracks for them. + // ----------------------------------- + for (size_t i = 0; i < detectedCentroid.size(); ++i) + { + if (find(assignment.begin(), assignment.end(), i) == assignment.end()) + { + tracks.push_back(std::unique_ptr(new CTrack(detectedCentroid[i], contours[i], params.dt, NextTrackID++))); + } + } + + // Update Kalman Filters state + + for (size_t i = 0; i < assignment.size(); i++) + { + // If track updated less than one time, than filter state is not correct. + + if (assignment[i] != -1) // If we have assigned detect, then update using its coordinates, + { + tracks[i]->skipped_frames = 0; + tracks[i]->Update(detectedCentroid[assignment[i]], contours[assignment[i]], true, params.max_trace_length); + } + else // if not continue using predictions + { + tracks[i]->Update(Point_t(), std::vector(), false, params.max_trace_length); + } + } +} + +void CTracker::updateParameters(const Params ¶meters) +{ + params = parameters; +} +// --------------------------------------------------------------------------- +// +// --------------------------------------------------------------------------- +CTracker::~CTracker(void) {} diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/HungarianAlg.cpp b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/HungarianAlg.cpp new file mode 100644 index 0000000..33ef4b9 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/HungarianAlg.cpp @@ -0,0 +1,732 @@ +// Based on https://github.com/Smorodov/Multitarget-tracker/tree/master/Tracker, GPLv3 +// Refer to README.md in this directory. + +#include +#include + +AssignmentProblemSolver::AssignmentProblemSolver() {} + +AssignmentProblemSolver::~AssignmentProblemSolver() {} + +track_t AssignmentProblemSolver::Solve(const distMatrix_t& distMatrixIn, size_t nOfRows, size_t nOfColumns, + std::vector& assignment, TMethod Method) +{ + assignment.resize(nOfRows, -1); + + track_t cost = 0; + + switch (Method) + { + case optimal: + assignmentoptimal(assignment, cost, distMatrixIn, nOfRows, nOfColumns); + break; + + case many_forbidden_assignments: + assignmentsuboptimal1(assignment, cost, distMatrixIn, nOfRows, nOfColumns); + break; + + case without_forbidden_assignments: + assignmentsuboptimal2(assignment, cost, distMatrixIn, nOfRows, nOfColumns); + break; + } + + return cost; +} +// -------------------------------------------------------------------------- +// Computes the optimal assignment (minimum overall costs) using Munkres algorithm. +// -------------------------------------------------------------------------- +void AssignmentProblemSolver::assignmentoptimal(assignments_t& assignment, track_t& cost, + const distMatrix_t& distMatrixIn, size_t nOfRows, size_t nOfColumns) +{ + // Generate distance cv::Matrix + // and check cv::Matrix elements positiveness :) + + // Total elements number + size_t nOfElements = nOfRows * nOfColumns; + // Memory allocation + track_t* distMatrix = (track_t*)malloc(nOfElements * sizeof(track_t)); + // Pointer to last element + track_t* distMatrixEnd = distMatrix + nOfElements; + + for (size_t row = 0; row < nOfElements; row++) + { + track_t value = distMatrixIn[row]; + assert(value >= 0); + distMatrix[row] = value; + } + + // Memory allocation + bool* coveredColumns = (bool*)calloc(nOfColumns, sizeof(bool)); + bool* coveredRows = (bool*)calloc(nOfRows, sizeof(bool)); + bool* starMatrix = (bool*)calloc(nOfElements, sizeof(bool)); + bool* primeMatrix = (bool*)calloc(nOfElements, sizeof(bool)); + bool* newStarMatrix = (bool*)calloc(nOfElements, sizeof(bool)); /* used in step4 */ + + /* preliminary steps */ + if (nOfRows <= nOfColumns) + { + for (size_t row = 0; row < nOfRows; row++) + { + /* find the smallest element in the row */ + track_t* distMatrixTemp = distMatrix + row; + track_t minValue = *distMatrixTemp; + distMatrixTemp += nOfRows; + while (distMatrixTemp < distMatrixEnd) + { + track_t value = *distMatrixTemp; + if (value < minValue) + { + minValue = value; + } + distMatrixTemp += nOfRows; + } + /* subtract the smallest element from each element of the row */ + distMatrixTemp = distMatrix + row; + while (distMatrixTemp < distMatrixEnd) + { + *distMatrixTemp -= minValue; + distMatrixTemp += nOfRows; + } + } + /* Steps 1 and 2a */ + for (size_t row = 0; row < nOfRows; row++) + { + for (size_t col = 0; col < nOfColumns; col++) + { + if (distMatrix[row + nOfRows * col] == 0) + { + if (!coveredColumns[col]) + { + starMatrix[row + nOfRows * col] = true; + coveredColumns[col] = true; + break; + } + } + } + } + } + else /* if(nOfRows > nOfColumns) */ + { + for (size_t col = 0; col < nOfColumns; col++) + { + /* find the smallest element in the column */ + track_t* distMatrixTemp = distMatrix + nOfRows * col; + track_t* columnEnd = distMatrixTemp + nOfRows; + track_t minValue = *distMatrixTemp++; + while (distMatrixTemp < columnEnd) + { + track_t value = *distMatrixTemp++; + if (value < minValue) + { + minValue = value; + } + } + /* subtract the smallest element from each element of the column */ + distMatrixTemp = distMatrix + nOfRows * col; + while (distMatrixTemp < columnEnd) + { + *distMatrixTemp++ -= minValue; + } + } + /* Steps 1 and 2a */ + for (size_t col = 0; col < nOfColumns; col++) + { + for (size_t row = 0; row < nOfRows; row++) + { + if (distMatrix[row + nOfRows * col] == 0) + { + if (!coveredRows[row]) + { + starMatrix[row + nOfRows * col] = true; + coveredColumns[col] = true; + coveredRows[row] = true; + break; + } + } + } + } + + for (size_t row = 0; row < nOfRows; row++) + { + coveredRows[row] = false; + } + } + /* move to step 2b */ + step2b(assignment, distMatrix, starMatrix, newStarMatrix, primeMatrix, coveredColumns, coveredRows, nOfRows, + nOfColumns, (nOfRows <= nOfColumns) ? nOfRows : nOfColumns); + /* compute cost and remove invalid assignments */ + computeassignmentcost(assignment, cost, distMatrixIn, nOfRows); + /* free allocated memory */ + free(distMatrix); + free(coveredColumns); + free(coveredRows); + free(starMatrix); + free(primeMatrix); + free(newStarMatrix); + return; +} +// -------------------------------------------------------------------------- +// +// -------------------------------------------------------------------------- +void AssignmentProblemSolver::buildassignmentvector(assignments_t& assignment, bool* starMatrix, size_t nOfRows, + size_t nOfColumns) +{ + for (size_t row = 0; row < nOfRows; row++) + { + for (size_t col = 0; col < nOfColumns; col++) + { + if (starMatrix[row + nOfRows * col]) + { + assignment[row] = static_cast(col); + break; + } + } + } +} +// -------------------------------------------------------------------------- +// +// -------------------------------------------------------------------------- +void AssignmentProblemSolver::computeassignmentcost(const assignments_t& assignment, track_t& cost, + const distMatrix_t& distMatrixIn, size_t nOfRows) +{ + for (size_t row = 0; row < nOfRows; row++) + { + const int col = assignment[row]; + if (col >= 0) + { + cost += distMatrixIn[row + nOfRows * col]; + } + } +} + +// -------------------------------------------------------------------------- +// +// -------------------------------------------------------------------------- +void AssignmentProblemSolver::step2a(assignments_t& assignment, track_t* distMatrix, bool* starMatrix, + bool* newStarMatrix, bool* primeMatrix, bool* coveredColumns, bool* coveredRows, + size_t nOfRows, size_t nOfColumns, size_t minDim) +{ + bool* starMatrixTemp, *columnEnd; + /* cover every column containing a starred zero */ + for (size_t col = 0; col < nOfColumns; col++) + { + starMatrixTemp = starMatrix + nOfRows * col; + columnEnd = starMatrixTemp + nOfRows; + while (starMatrixTemp < columnEnd) + { + if (*starMatrixTemp++) + { + coveredColumns[col] = true; + break; + } + } + } + /* move to step 3 */ + step2b(assignment, distMatrix, starMatrix, newStarMatrix, primeMatrix, coveredColumns, coveredRows, nOfRows, + nOfColumns, minDim); +} + +// -------------------------------------------------------------------------- +// +// -------------------------------------------------------------------------- +void AssignmentProblemSolver::step2b(assignments_t& assignment, track_t* distMatrix, bool* starMatrix, + bool* newStarMatrix, bool* primeMatrix, bool* coveredColumns, bool* coveredRows, + size_t nOfRows, size_t nOfColumns, size_t minDim) +{ + /* count covered columns */ + size_t nOfCoveredColumns = 0; + for (size_t col = 0; col < nOfColumns; col++) + { + if (coveredColumns[col]) + { + nOfCoveredColumns++; + } + } + if (nOfCoveredColumns == minDim) + { + /* algorithm finished */ + buildassignmentvector(assignment, starMatrix, nOfRows, nOfColumns); + } + else + { + /* move to step 3 */ + step3(assignment, distMatrix, starMatrix, newStarMatrix, primeMatrix, coveredColumns, coveredRows, nOfRows, + nOfColumns, minDim); + } +} + +// -------------------------------------------------------------------------- +// +// -------------------------------------------------------------------------- +void AssignmentProblemSolver::step3(assignments_t& assignment, track_t* distMatrix, bool* starMatrix, + bool* newStarMatrix, bool* primeMatrix, bool* coveredColumns, bool* coveredRows, + size_t nOfRows, size_t nOfColumns, size_t minDim) +{ + bool zerosFound = true; + while (zerosFound) + { + zerosFound = false; + for (size_t col = 0; col < nOfColumns; col++) + { + if (!coveredColumns[col]) + { + for (size_t row = 0; row < nOfRows; row++) + { + if ((!coveredRows[row]) && (distMatrix[row + nOfRows * col] == 0)) + { + /* prime zero */ + primeMatrix[row + nOfRows * col] = true; + /* find starred zero in current row */ + size_t starCol = 0; + for (; starCol < nOfColumns; starCol++) + { + if (starMatrix[row + nOfRows * starCol]) + { + break; + } + } + if (starCol == nOfColumns) /* no starred zero found */ + { + /* move to step 4 */ + step4(assignment, distMatrix, starMatrix, newStarMatrix, primeMatrix, coveredColumns, coveredRows, + nOfRows, nOfColumns, minDim, row, col); + return; + } + else + { + coveredRows[row] = true; + coveredColumns[starCol] = false; + zerosFound = true; + break; + } + } + } + } + } + } + /* move to step 5 */ + step5(assignment, distMatrix, starMatrix, newStarMatrix, primeMatrix, coveredColumns, coveredRows, nOfRows, + nOfColumns, minDim); +} + +// -------------------------------------------------------------------------- +// +// -------------------------------------------------------------------------- +void AssignmentProblemSolver::step4(assignments_t& assignment, track_t* distMatrix, bool* starMatrix, + bool* newStarMatrix, bool* primeMatrix, bool* coveredColumns, bool* coveredRows, + size_t nOfRows, size_t nOfColumns, size_t minDim, size_t row, size_t col) +{ + const size_t nOfElements = nOfRows * nOfColumns; + /* generate temporary copy of starMatrix */ + for (size_t n = 0; n < nOfElements; n++) + { + newStarMatrix[n] = starMatrix[n]; + } + /* star current zero */ + newStarMatrix[row + nOfRows * col] = true; + /* find starred zero in current column */ + size_t starCol = col; + size_t starRow = 0; + for (; starRow < nOfRows; starRow++) + { + if (starMatrix[starRow + nOfRows * starCol]) + { + break; + } + } + while (starRow < nOfRows) + { + /* unstar the starred zero */ + newStarMatrix[starRow + nOfRows * starCol] = false; + /* find primed zero in current row */ + size_t primeRow = starRow; + size_t primeCol = 0; + for (; primeCol < nOfColumns; primeCol++) + { + if (primeMatrix[primeRow + nOfRows * primeCol]) + { + break; + } + } + /* star the primed zero */ + newStarMatrix[primeRow + nOfRows * primeCol] = true; + /* find starred zero in current column */ + starCol = primeCol; + for (starRow = 0; starRow < nOfRows; starRow++) + { + if (starMatrix[starRow + nOfRows * starCol]) + { + break; + } + } + } + /* use temporary copy as new starMatrix */ + /* delete all primes, uncover all rows */ + for (size_t n = 0; n < nOfElements; n++) + { + primeMatrix[n] = false; + starMatrix[n] = newStarMatrix[n]; + } + for (size_t n = 0; n < nOfRows; n++) + { + coveredRows[n] = false; + } + /* move to step 2a */ + step2a(assignment, distMatrix, starMatrix, newStarMatrix, primeMatrix, coveredColumns, coveredRows, nOfRows, + nOfColumns, minDim); +} + +// -------------------------------------------------------------------------- +// +// -------------------------------------------------------------------------- +void AssignmentProblemSolver::step5(assignments_t& assignment, track_t* distMatrix, bool* starMatrix, + bool* newStarMatrix, bool* primeMatrix, bool* coveredColumns, bool* coveredRows, + size_t nOfRows, size_t nOfColumns, size_t minDim) +{ + /* find smallest uncovered element h */ + float h = std::numeric_limits::max(); + for (size_t row = 0; row < nOfRows; row++) + { + if (!coveredRows[row]) + { + for (size_t col = 0; col < nOfColumns; col++) + { + if (!coveredColumns[col]) + { + const float value = distMatrix[row + nOfRows * col]; + if (value < h) + { + h = value; + } + } + } + } + } + /* add h to each covered row */ + for (size_t row = 0; row < nOfRows; row++) + { + if (coveredRows[row]) + { + for (size_t col = 0; col < nOfColumns; col++) + { + distMatrix[row + nOfRows * col] += h; + } + } + } + /* subtract h from each uncovered column */ + for (size_t col = 0; col < nOfColumns; col++) + { + if (!coveredColumns[col]) + { + for (size_t row = 0; row < nOfRows; row++) + { + distMatrix[row + nOfRows * col] -= h; + } + } + } + /* move to step 3 */ + step3(assignment, distMatrix, starMatrix, newStarMatrix, primeMatrix, coveredColumns, coveredRows, nOfRows, + nOfColumns, minDim); +} + +// -------------------------------------------------------------------------- +// Computes a suboptimal solution. Good for cases without forbidden assignments. +// -------------------------------------------------------------------------- +void AssignmentProblemSolver::assignmentsuboptimal2(assignments_t& assignment, track_t& cost, + const distMatrix_t& distMatrixIn, size_t nOfRows, size_t nOfColumns) +{ + /* make working copy of distance Matrix */ + const size_t nOfElements = nOfRows * nOfColumns; + float* distMatrix = (float*)malloc(nOfElements * sizeof(float)); + for (size_t n = 0; n < nOfElements; n++) + { + distMatrix[n] = distMatrixIn[n]; + } + + /* recursively search for the minimum element and do the assignment */ + for (;;) + { + /* find minimum distance observation-to-track pair */ + float minValue = std::numeric_limits::max(); + size_t tmpRow = 0; + size_t tmpCol = 0; + for (size_t row = 0; row < nOfRows; row++) + { + for (size_t col = 0; col < nOfColumns; col++) + { + const float value = distMatrix[row + nOfRows * col]; + if (value != std::numeric_limits::max() && (value < minValue)) + { + minValue = value; + tmpRow = row; + tmpCol = col; + } + } + } + + if (minValue != std::numeric_limits::max()) + { + assignment[tmpRow] = static_cast(tmpCol); + cost += minValue; + for (size_t n = 0; n < nOfRows; n++) + { + distMatrix[n + nOfRows * tmpCol] = std::numeric_limits::max(); + } + for (size_t n = 0; n < nOfColumns; n++) + { + distMatrix[tmpRow + nOfRows * n] = std::numeric_limits::max(); + } + } + else + { + break; + } + } + + free(distMatrix); +} +// -------------------------------------------------------------------------- +// Computes a suboptimal solution. Good for cases with many forbidden assignments. +// -------------------------------------------------------------------------- +void AssignmentProblemSolver::assignmentsuboptimal1(assignments_t& assignment, track_t& cost, + const distMatrix_t& distMatrixIn, size_t nOfRows, size_t nOfColumns) +{ + /* make working copy of distance Matrix */ + const size_t nOfElements = nOfRows * nOfColumns; + float* distMatrix = (float*)malloc(nOfElements * sizeof(float)); + for (size_t n = 0; n < nOfElements; n++) + { + distMatrix[n] = distMatrixIn[n]; + } + + /* allocate memory */ + int* nOfValidObservations = (int*)calloc(nOfRows, sizeof(int)); + int* nOfValidTracks = (int*)calloc(nOfColumns, sizeof(int)); + + /* compute number of validations */ + bool infiniteValueFound = false; + bool finiteValueFound = false; + for (size_t row = 0; row < nOfRows; row++) + { + for (size_t col = 0; col < nOfColumns; col++) + { + if (distMatrix[row + nOfRows * col] != std::numeric_limits::max()) + { + nOfValidTracks[col] += 1; + nOfValidObservations[row] += 1; + finiteValueFound = true; + } + else + { + infiniteValueFound = true; + } + } + } + + if (infiniteValueFound) + { + if (!finiteValueFound) + { + free(nOfValidTracks); + free(nOfValidObservations); + free(distMatrix); + return; + } + bool repeatSteps = true; + + while (repeatSteps) + { + repeatSteps = false; + + /* step 1: reject assignments of multiply validated tracks to singly validated observations */ + for (size_t col = 0; col < nOfColumns; col++) + { + bool singleValidationFound = false; + for (size_t row = 0; row < nOfRows; row++) + { + if (distMatrix[row + nOfRows * col] != std::numeric_limits::max() && + (nOfValidObservations[row] == 1)) + { + singleValidationFound = true; + break; + } + + if (singleValidationFound) + { + for (size_t row = 0; row < nOfRows; row++) + if ((nOfValidObservations[row] > 1) && + distMatrix[row + nOfRows * col] != std::numeric_limits::max()) + { + distMatrix[row + nOfRows * col] = std::numeric_limits::max(); + nOfValidObservations[row] -= 1; + nOfValidTracks[col] -= 1; + repeatSteps = true; + } + } + } + } + + /* step 2: reject assignments of multiply validated observations to singly validated tracks */ + if (nOfColumns > 1) + { + for (size_t row = 0; row < nOfRows; row++) + { + bool singleValidationFound = false; + for (size_t col = 0; col < nOfColumns; col++) + { + if (distMatrix[row + nOfRows * col] != std::numeric_limits::max() && (nOfValidTracks[col] == 1)) + { + singleValidationFound = true; + break; + } + } + + if (singleValidationFound) + { + for (size_t col = 0; col < nOfColumns; col++) + { + if ((nOfValidTracks[col] > 1) && distMatrix[row + nOfRows * col] != std::numeric_limits::max()) + { + distMatrix[row + nOfRows * col] = std::numeric_limits::max(); + nOfValidObservations[row] -= 1; + nOfValidTracks[col] -= 1; + repeatSteps = true; + } + } + } + } + } + } /* while(repeatSteps) */ + + /* for each multiply validated track that validates only with singly validated */ + /* observations, choose the observation with minimum distance */ + for (size_t row = 0; row < nOfRows; row++) + { + if (nOfValidObservations[row] > 1) + { + bool allSinglyValidated = true; + float minValue = std::numeric_limits::max(); + size_t tmpCol = 0; + for (size_t col = 0; col < nOfColumns; col++) + { + const float value = distMatrix[row + nOfRows * col]; + if (value != std::numeric_limits::max()) + { + if (nOfValidTracks[col] > 1) + { + allSinglyValidated = false; + break; + } + else if ((nOfValidTracks[col] == 1) && (value < minValue)) + { + tmpCol = col; + minValue = value; + } + } + } + + if (allSinglyValidated) + { + assignment[row] = static_cast(tmpCol); + cost += minValue; + for (size_t n = 0; n < nOfRows; n++) + { + distMatrix[n + nOfRows * tmpCol] = std::numeric_limits::max(); + } + for (size_t n = 0; n < nOfColumns; n++) + { + distMatrix[row + nOfRows * n] = std::numeric_limits::max(); + } + } + } + } + + // for each multiply validated observation that validates only with singly validated track, choose the track with + // minimum distance + for (size_t col = 0; col < nOfColumns; col++) + { + if (nOfValidTracks[col] > 1) + { + bool allSinglyValidated = true; + float minValue = std::numeric_limits::max(); + size_t tmpRow = 0; + for (size_t row = 0; row < nOfRows; row++) + { + const float value = distMatrix[row + nOfRows * col]; + if (value != std::numeric_limits::max()) + { + if (nOfValidObservations[row] > 1) + { + allSinglyValidated = false; + break; + } + else if ((nOfValidObservations[row] == 1) && (value < minValue)) + { + tmpRow = row; + minValue = value; + } + } + } + + if (allSinglyValidated) + { + assignment[tmpRow] = static_cast(col); + cost += minValue; + for (size_t n = 0; n < nOfRows; n++) + { + distMatrix[n + nOfRows * col] = std::numeric_limits::max(); + } + for (size_t n = 0; n < nOfColumns; n++) + { + distMatrix[tmpRow + nOfRows * n] = std::numeric_limits::max(); + } + } + } + } + } /* if(infiniteValueFound) */ + + /* now, recursively search for the minimum element and do the assignment */ + for (;;) + { + /* find minimum distance observation-to-track pair */ + float minValue = std::numeric_limits::max(); + size_t tmpRow = 0; + size_t tmpCol = 0; + for (size_t row = 0; row < nOfRows; row++) + { + for (size_t col = 0; col < nOfColumns; col++) + { + const float value = distMatrix[row + nOfRows * col]; + if (value != std::numeric_limits::max() && (value < minValue)) + { + minValue = value; + tmpRow = row; + tmpCol = col; + } + } + } + + if (minValue != std::numeric_limits::max()) + { + assignment[tmpRow] = static_cast(tmpCol); + cost += minValue; + for (size_t n = 0; n < nOfRows; n++) + { + distMatrix[n + nOfRows * tmpCol] = std::numeric_limits::max(); + } + for (size_t n = 0; n < nOfColumns; n++) + { + distMatrix[tmpRow + nOfRows * n] = std::numeric_limits::max(); + } + } + else + { + break; + } + } + + /* free allocated memory */ + free(nOfValidObservations); + free(nOfValidTracks); + free(distMatrix); +} diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/Kalman.cpp b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/Kalman.cpp new file mode 100644 index 0000000..7bf8e71 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/Kalman.cpp @@ -0,0 +1,99 @@ +// Based on https://github.com/Smorodov/Multitarget-tracker/tree/master/Tracker, GPLv3 +// Refer to README.md in this directory. + +#include +#include "opencv2/opencv.hpp" +#include +#include + +//--------------------------------------------------------------------------- +//--------------------------------------------------------------------------- +TKalmanFilter::TKalmanFilter(Point_t pt, track_t deltatime) +{ + // time increment (lower values makes target more "massive") + dt = deltatime; + + // 6 state variables [x y z xdot ydot zdot], 3 measurements [x y z] + kalman = new cv::KalmanFilter(6, 3, 0); + // Transition cv::Matrix + kalman->transitionMatrix = (cv::Mat_(6, 6) << + 1, 0, 0, dt, 0, 0, + 0, 1, 0, 0, dt, 0, + 0, 0, 1, 0, 0, dt, + 0, 0, 0, 1, 0, 0, + 0, 0, 0, 0, 1, 0, + 0, 0, 0, 0, 0, 1); + // init... + LastPosition = pt; + kalman->statePre.at(0) = pt.x; + kalman->statePre.at(1) = pt.y; + kalman->statePre.at(2) = pt.z; + + kalman->statePre.at(3) = 0; + kalman->statePre.at(4) = 0; + kalman->statePre.at(5) = 0; + + kalman->statePost.at(0) = pt.x; + kalman->statePost.at(1) = pt.y; + kalman->statePost.at(2) = pt.z; + + // Nur x, y und z Koordinaten messbar! + kalman->measurementMatrix = (cv::Mat_(3, 6) << + 1, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0); + + float sigma = 0.5; // Assume standard deviation for acceleration, todo: dynamic reconfigure + float c1 = pow(dt,4.0)/4.0; + float c2 = pow(dt,2.0); + float c3 = pow(dt,3.0)/2.0; + kalman->processNoiseCov = sigma*sigma*(cv::Mat_(6, 6) << + c1, 0, 0, c3, 0, 0, + 0, c1, 0, 0, c3, 0, + 0, 0, c1, 0, 0, c3, + c3, 0, 0, c2, 0, 0, + 0, c3, 0, 0, c2, 0, + 0, 0, c3, 0, 0, c2); + + cv::setIdentity(kalman->measurementNoiseCov, cv::Scalar::all(5e-2)); + + cv::setIdentity(kalman->errorCovPost, cv::Scalar::all(1000000)); +} +//--------------------------------------------------------------------------- +TKalmanFilter::~TKalmanFilter() { delete kalman; } + +//--------------------------------------------------------------------------- +void TKalmanFilter::Prediction() +{ + cv::Mat prediction = kalman->predict(); + LastPosition = Point_t(prediction.at(0), prediction.at(1), prediction.at(2)); + LastVelocity = Point_t(prediction.at(3), prediction.at(4), prediction.at(5)); +} + +//--------------------------------------------------------------------------- +Point_t TKalmanFilter::Update(Point_t p, bool DataCorrect) +{ + cv::Mat measurement(3, 1, Mat_t(1)); + if (!DataCorrect) + { + measurement.at(0) = LastPosition.x; // update using prediction + measurement.at(1) = LastPosition.y; + measurement.at(2) = LastPosition.z; + } + else + { + measurement.at(0) = p.x; // update using measurements + measurement.at(1) = p.y; + measurement.at(2) = p.z; + } + // Correction + cv::Mat estimated = kalman->correct(measurement); + LastPosition.x = estimated.at(0); // update using measurements + LastPosition.y = estimated.at(1); + LastPosition.z = estimated.at(2); + LastVelocity.x = estimated.at(3); + LastVelocity.y = estimated.at(4); + LastVelocity.z = estimated.at(5); + return LastPosition; +} +//--------------------------------------------------------------------------- diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/README.md b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/README.md new file mode 100644 index 0000000..3fb4614 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/README.md @@ -0,0 +1,13 @@ +Multitarget Tracker +=================== + +This code is mostly copied from the (MultitargetTracker)[https://github.com/Smorodov/Multitarget-tracker]. +It is utilized for the *CostmapToDynamicObstacles* plugin. + +The *MultitargetTracker* is licensed under (GNU GPLv3)[https://www.gnu.org/licenses/gpl-3.0.txt]. +The package itself depends on other third party packages with different licenses (refer to the package repository). + +TODO: Include the whole package as external CMake project. + + + diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_lines_convex_hull.cpp b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_lines_convex_hull.cpp new file mode 100644 index 0000000..4177cd2 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_lines_convex_hull.cpp @@ -0,0 +1,303 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann, Otniel Rinaldo + *********************************************************************/ + +#include +#include +#include + +PLUGINLIB_EXPORT_CLASS(costmap_converter::CostmapToLinesDBSMCCH, costmap_converter::BaseCostmapToPolygons) + +namespace costmap_converter +{ + +CostmapToLinesDBSMCCH::CostmapToLinesDBSMCCH() : CostmapToPolygonsDBSMCCH() +{ +// dynamic_recfg_ = NULL; +} + +CostmapToLinesDBSMCCH::~CostmapToLinesDBSMCCH() +{ +// if (dynamic_recfg_ != NULL) +// delete dynamic_recfg_; +} + +void CostmapToLinesDBSMCCH::initialize(rclcpp::Node::SharedPtr nh) +{ + BaseCostmapToPolygons::initialize(nh); + + // DB SCAN + parameter_.max_distance_ = 0.4; + nh->get_parameter_or("cluster_max_distance", parameter_.max_distance_, parameter_.max_distance_); + + parameter_.min_pts_ = 2; + nh->get_parameter_or("cluster_min_pts", parameter_.min_pts_, parameter_.min_pts_); + + parameter_.max_pts_ = 30; + nh->get_parameter_or("cluster_max_pts", parameter_.max_pts_, parameter_.max_pts_); + + // convex hull + parameter_.min_keypoint_separation_ = 0.1; + nh->get_parameter_or("convex_hull_min_pt_separation", parameter_.min_keypoint_separation_, parameter_.min_keypoint_separation_); + + parameter_buffered_ = parameter_; + + // Line extraction + support_pts_max_dist_ = 0.3; + nh->get_parameter_or("support_pts_max_dist", support_pts_max_dist_, support_pts_max_dist_); + + support_pts_max_dist_inbetween_ = 1.0; + nh->get_parameter_or("support_pts_max_dist_inbetween", support_pts_max_dist_inbetween_, support_pts_max_dist_inbetween_); + + min_support_pts_ = 2; + nh->get_parameter_or("min_support_pts", min_support_pts_, min_support_pts_); + + // setup dynamic reconfigure +// dynamic_recfg_ = new dynamic_reconfigure::Server(nh); +// dynamic_reconfigure::Server::CallbackType cb = boost::bind(&CostmapToLinesDBSMCCH::reconfigureCB, this, _1, _2); +// dynamic_recfg_->setCallback(cb); + + // deprecated + rclcpp::Parameter dummy; + if (nh->get_parameter("support_pts_min_dist_", dummy) || nh->get_parameter("support_pts_min_dist", dummy)) + RCLCPP_WARN(nh->get_logger(), "CostmapToLinesDBSMCCH: Parameter 'support_pts_min_dist' is deprecated and not included anymore."); + if (nh->get_parameter("min_support_pts_", dummy)) + RCLCPP_WARN(nh->get_logger(), "CostmapToLinesDBSMCCH: Parameter 'min_support_pts_' is not found. Remove the underscore."); +} + +void CostmapToLinesDBSMCCH::compute() +{ + std::vector< std::vector > clusters; + dbScan(clusters); + + // Create new polygon container + PolygonContainerPtr polygons(new std::vector()); + + + // add convex hulls to polygon container + for (size_t i = 1; i push_back( geometry_msgs::msg::Polygon() ); + convertPointToPolygon(clusters.front()[i], polygons->back()); + } + } + + // replace shared polygon container + updatePolygonContainer(polygons); +} + +typedef CostmapToLinesDBSMCCH CL; +bool sort_keypoint_x(const std::size_t& i, const std::size_t& j, const std::vector& cluster) +{ return (cluster[i].x& cluster) +{ return (cluster[i].y& cluster, const geometry_msgs::msg::Polygon& polygon, + std::back_insert_iterator< std::vector > lines) +{ + if (polygon.points.empty()) + return; + + if (polygon.points.size() < 2) + { + lines = polygon; // our polygon is just a point, push back onto the output sequence + return; + } + int n = (int)polygon.points.size(); + + for (int i=1; ix - vertex1->x; + double dy = vertex2->y - vertex1->y; +// double norm = std::sqrt(dx*dx + dy*dy); +// dx /= norm; +// dy /= norm; +// for (int j=i; j<(int)polygon.points.size() - 2; ++j) +// { +// const geometry_msgs::msg::Point32* vertex_jp2 = &polygon.points[j+2]; +// double dx2 = vertex_jp2->x - vertex2->x; +// double dy2 = vertex_jp2->y - vertex2->y; +// double norm2 = std::sqrt(dx2*dx2 + dy2*dy2); +// dx2 /= norm2; +// dy2 /= norm2; +// if (std::abs(dx*dx2 + dy*dy2) < 0.05) //~3 degree +// { +// vertex2 = &polygon.points[j+2]; +// i = j; // DO NOT USE "i" afterwards +// } +// else break; +// } + + //Search support points + std::vector support_points; // store indices of cluster + + for (std::size_t k = 0; k < cluster.size(); ++k) + { + bool is_inbetween = false; + double dist_line_to_point = computeDistanceToLineSegment( cluster[k], *vertex1, *vertex2, &is_inbetween ); + + if(is_inbetween && dist_line_to_point <= support_pts_max_dist_) + { + support_points.push_back(k); + continue; + } + } + + // now check if the inlier models a line by checking the minimum distance between all support points (avoid lines over gaps) + // and by checking if the minium number of points is reached // deactivate by setting support_pts_max_dist_inbetween_==0 + bool is_line=true; + if (support_pts_max_dist_inbetween_!=0) + { + if ((int)support_points.size() >= min_support_pts_ + 2) // +2 since start and goal are included + { + // sort points + if (std::abs(dx) >= std::abs(dy)) + std::sort(support_points.begin(), support_points.end(), std::bind(sort_keypoint_x, std::placeholders::_1, std::placeholders::_2, std::cref(cluster))); + else + std::sort(support_points.begin(), support_points.end(), std::bind(sort_keypoint_y, std::placeholders::_1, std::placeholders::_2, std::cref(cluster))); + + // now calculate distances + for (int k = 1; k < int(support_points.size()); ++k) + { + double dist_x = cluster[support_points[k]].x - cluster[support_points[k-1]].x; + double dist_y = cluster[support_points[k]].y - cluster[support_points[k-1]].y; + double dist = std::sqrt( dist_x*dist_x + dist_y*dist_y); + if (dist > support_pts_max_dist_inbetween_) + { + is_line = false; + break; + } + } + + } + else + is_line = false; + } + + if (is_line) + { + // line found: + geometry_msgs::msg::Polygon line; + line.points.push_back(*vertex1); + line.points.push_back(*vertex2); + lines = line; // back insertion + + // remove inlier from list + // iterate in reverse order, otherwise indices are not valid after erasing elements + std::vector::reverse_iterator support_it = support_points.rbegin(); + for (; support_it != support_points.rend(); ++support_it) + { + cluster.erase(cluster.begin() + *support_it); + } + } + else + { + // remove goal, since it will be added in the subsequent iteration + //support_points.pop_back(); + // old: +// // add vertex 1 as single point +// geometry_msgs::msg::Polygon point; +// point.points.push_back(*vertex1); +// lines = point; // back insertion + + // add complete inlier set as points +// for (int k = 0; k < int(support_points.size()); ++k) +// { +// geometry_msgs::msg::Polygon polygon; +// convertPointToPolygon(cluster[support_points[k]], polygon); +// lines = polygon; // back insertion +// } + + // remove inlier from list and add them as point obstacles + // iterate in reverse order, otherwise indices are not valid after erasing elements + std::vector::reverse_iterator support_it = support_points.rbegin(); + for (; support_it != support_points.rend(); ++support_it) + { + geometry_msgs::msg::Polygon polygon; + convertPointToPolygon(cluster[*support_it], polygon); + lines = polygon; // back insertion + + cluster.erase(cluster.begin() + *support_it); + } + } + } + + // add all remaining cluster points, that do not belong to a line + for (int i=0; i<(int)cluster.size();++i) + { + geometry_msgs::msg::Polygon polygon; + convertPointToPolygon(cluster[i], polygon); + lines = polygon; // back insertion + } + +} + +//void CostmapToLinesDBSMCCH::reconfigureCB(CostmapToLinesDBSMCCHConfig& config, uint32_t level) +//{ +// boost::mutex::scoped_lock lock(parameter_mutex_); +// parameter_buffered_.max_distance_ = config.cluster_max_distance; +// parameter_buffered_.min_pts_ = config.cluster_min_pts; +// parameter_buffered_.max_pts_ = config.cluster_max_pts; +// parameter_buffered_.min_keypoint_separation_ = config.cluster_min_pts; +// support_pts_max_dist_ = config.support_pts_max_dist; +// support_pts_max_dist_inbetween_ = config.support_pts_max_dist_inbetween; +// min_support_pts_ = config.min_support_pts; +//} + + + +}//end namespace costmap_converter + + diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_lines_ransac.cpp b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_lines_ransac.cpp new file mode 100644 index 0000000..38e3d06 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_lines_ransac.cpp @@ -0,0 +1,361 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#include +#include + +PLUGINLIB_EXPORT_CLASS(costmap_converter::CostmapToLinesDBSRANSAC, costmap_converter::BaseCostmapToPolygons) + +namespace costmap_converter +{ + +CostmapToLinesDBSRANSAC::CostmapToLinesDBSRANSAC() : CostmapToPolygonsDBSMCCH() +{ +// dynamic_recfg_ = NULL; +} + +CostmapToLinesDBSRANSAC::~CostmapToLinesDBSRANSAC() +{ +// if (dynamic_recfg_ != NULL) +// delete dynamic_recfg_; +} + +void CostmapToLinesDBSRANSAC::initialize(rclcpp::Node::SharedPtr nh) +{ + BaseCostmapToPolygons::initialize(nh); + + // DB SCAN + parameter_.max_distance_ = 0.4; + nh->get_parameter_or("cluster_max_distance", parameter_.max_distance_, parameter_.max_distance_); + + parameter_.min_pts_ = 2; + nh->get_parameter_or("cluster_min_pts", parameter_.min_pts_, parameter_.min_pts_); + + parameter_.max_pts_ = 30; + nh->get_parameter_or("cluster_max_pts", parameter_.max_pts_, parameter_.max_pts_); + + // convex hull (only necessary if outlier filtering is enabled) + parameter_.min_keypoint_separation_ = 0.1; + nh->get_parameter_or("convex_hull_min_pt_separation", parameter_.min_keypoint_separation_, parameter_.min_keypoint_separation_); + + parameter_buffered_ = parameter_; + + // ransac + ransac_inlier_distance_ = 0.2; + nh->get_parameter_or("ransac_inlier_distance", ransac_inlier_distance_, ransac_inlier_distance_); + + ransac_min_inliers_ = 10; + nh->get_parameter_or("ransac_min_inliers", ransac_min_inliers_, ransac_min_inliers_); + + ransac_no_iterations_ = 2000; + nh->get_parameter_or("ransac_no_iterations", ransac_no_iterations_, ransac_no_iterations_); + + ransac_remainig_outliers_ = 3; + nh->get_parameter_or("ransac_remainig_outliers", ransac_remainig_outliers_, ransac_remainig_outliers_); + + ransac_convert_outlier_pts_ = true; + nh->get_parameter_or("ransac_convert_outlier_pts", ransac_convert_outlier_pts_, ransac_convert_outlier_pts_); + + ransac_filter_remaining_outlier_pts_ = false; + nh->get_parameter_or("ransac_filter_remaining_outlier_pts", ransac_filter_remaining_outlier_pts_, ransac_filter_remaining_outlier_pts_); + + // setup dynamic reconfigure +// dynamic_recfg_ = new dynamic_reconfigure::Server(nh); +// dynamic_reconfigure::Server::CallbackType cb = boost::bind(&CostmapToLinesDBSRANSAC::reconfigureCB, this, _1, _2); +// dynamic_recfg_->setCallback(cb); +} + +void CostmapToLinesDBSRANSAC::compute() +{ + std::vector< std::vector > clusters; + dbScan(clusters); + + // Create new polygon container + PolygonContainerPtr polygons(new std::vector()); + + + // fit lines using ransac for each cluster + for (size_t i = 1; i ransac_remainig_outliers_) + { +// std::vector inliers; + std::vector outliers; + std::pair model; + if (!lineRansac(clusters[i], ransac_inlier_distance_, ransac_no_iterations_, ransac_min_inliers_, model, NULL, &outliers ) ) + break; + + // add to polygon container + geometry_msgs::msg::Polygon line; + line.points.resize(2); + model.first.toPointMsg(line.points.front()); + model.second.toPointMsg(line.points.back()); + polygons->push_back(line); + + clusters[i] = outliers; + } + // create point polygons for remaining outliers + if (ransac_convert_outlier_pts_) + { + if (ransac_filter_remaining_outlier_pts_) + { + // take edge points of a convex polygon + // these points define a cluster and since all lines are extracted, + // we remove points from the interior... + geometry_msgs::msg::Polygon polygon; + convexHull2(clusters[i], polygon); + for (int j=0; j < (int)polygon.points.size(); ++j) + { + polygons->push_back(geometry_msgs::msg::Polygon()); + convertPointToPolygon(polygon.points[j], polygons->back()); + } + } + else + { + for (int j = 0; j < (int)clusters[i].size(); ++j) + { + polygons->push_back(geometry_msgs::msg::Polygon()); + convertPointToPolygon(clusters[i][j], polygons->back()); + } + } + + } + + + } + + // add our non-cluster points to the polygon container (as single points) + if (!clusters.empty()) + { + for (size_t i=0; i < clusters.front().size(); ++i) + { + polygons->push_back( geometry_msgs::msg::Polygon() ); + convertPointToPolygon(clusters.front()[i], polygons->back()); + } + } + + // replace shared polygon container + updatePolygonContainer(polygons); +} + + +bool CostmapToLinesDBSRANSAC::lineRansac(const std::vector& data, double inlier_distance, int no_iterations, + int min_inliers, std::pair& best_model, + std::vector* inliers, std::vector* outliers) +{ + if ((int)data.size() < 2 || (int)data.size() < min_inliers) + { + return false; + } + + std::uniform_int_distribution<> distribution(0, data.size()-1); + + std::pair best_model_idx; + int best_no_inliers = -1; + + + for (int i=0; i < no_iterations; ++i) + { + // choose random points to define a line candidate + int start_idx = distribution(rnd_generator_); + int end_idx = start_idx; + while (end_idx == start_idx) + end_idx = distribution(rnd_generator_); + + + // compute inliers + int no_inliers = 0; + for (int j=0; j<(int)data.size(); ++j) + { + if ( isInlier(data[j], data[start_idx], data[end_idx], inlier_distance) ) + ++no_inliers; + } + + if (no_inliers > best_no_inliers) + { + best_no_inliers = no_inliers; + best_model_idx.first = start_idx; + best_model_idx.second = end_idx; + } + } + + best_model.first = data[best_model_idx.first]; + best_model.second = data[best_model_idx.second]; + + if (best_no_inliers < min_inliers) + return false; + + // Now repeat the calculation for the best model in order to obtain the inliers and outliers set + // This might be faster if no_iterations is large, but TEST + if (inliers || outliers) + { + if (inliers) + inliers->clear(); + if (outliers) + outliers->clear(); + +// int no_inliers = 0; + for (int i=0; i<(int)data.size(); ++i) + { + if ( isInlier( data[i], best_model.first, best_model.second, inlier_distance ) ) + { + if (inliers) + inliers->push_back( data[i] ); + } + else + { + if (outliers) + outliers->push_back( data[i] ); + } + } + } + + return true; +} + +bool CostmapToLinesDBSRANSAC::linearRegression(const std::vector& data, double& slope, double& intercept, + double* mean_x_out, double* mean_y_out) +{ + if (data.size() < 2) + { + RCLCPP_ERROR(getLogger(), "CostmapToLinesDBSRANSAC: at least 2 data points required for linear regression"); + return false; + } + + double mean_x = 0; + double mean_y = 0; + for (int i=0; i<(int)data.size(); ++i) + { + mean_x += data[i].x; + mean_y += data[i].y; + } + mean_x /= double(data.size()); + mean_y /= double(data.size()); + + if (mean_x_out) + *mean_x_out = mean_x; + + if (mean_y_out) + *mean_y_out = mean_y; + + double numerator = 0.0; + double denominator = 0.0; + + for(int i=0; i<(int)data.size(); ++i) + { + double dx = data[i].x - mean_x; + numerator += dx * (data[i].y - mean_y); + denominator += dx*dx; + } + + if (denominator == 0) + { + RCLCPP_ERROR(getLogger(), "CostmapToLinesDBSRANSAC: linear regression failed, denominator 0"); + return false; + } + else + slope = numerator / denominator; + + intercept = mean_y - slope * mean_x; + return true; +} + + +//void CostmapToLinesDBSRANSAC::reconfigureCB(CostmapToLinesDBSRANSACConfig& config, uint32_t level) +//{ +// boost::mutex::scoped_lock lock(parameter_mutex_); +// parameter_buffered_.max_distance_ = config.cluster_max_distance; +// parameter_buffered_.min_pts_ = config.cluster_min_pts; +// parameter_buffered_.max_pts_ = config.cluster_max_pts; +// parameter_buffered_.min_keypoint_separation_ = config.cluster_min_pts; +// ransac_inlier_distance_ = config.ransac_inlier_distance; +// ransac_min_inliers_ = config.ransac_min_inliers; +// ransac_no_iterations_ = config.ransac_no_iterations; +// ransac_remainig_outliers_ = config.ransac_remainig_outliers; +// ransac_convert_outlier_pts_ = config.ransac_convert_outlier_pts; +// ransac_filter_remaining_outlier_pts_ = config.ransac_filter_remaining_outlier_pts; +//} + + +/* +void CostmapToLinesDBSRANSAC::adjustLineLength(const std::vector& data, const KeyPoint& linept1, const KeyPoint& linept2, + KeyPoint& line_start, KeyPoint& line_end) +{ + line_start = linept1; + line_end = linept2; + + // infinite line is defined by linept1 and linept2 + double dir_x = line_end.x - line_start.x; + double dir_y = line_end.y - line_start.y; + double norm = std::sqrt(dir_x*dir_x + dir_y*dir_y); + dir_x /= norm; + dir_y /= norm; + + // project data onto the line and check if the distance is increased in both directions + for (int i=0; i < (int) data.size(); ++i) + { + double dx = data[i].x - line_start.x; + double dy = data[i].y - line_start.y; + // check scalar product at start + double extension = dx*dir_x + dy*dir_y; + if (extension<0) + { + line_start.x -= dir_x*extension; + line_start.y -= dir_y*extension; + } + else + { + dx = data[i].x - line_end.x; + dy = data[i].y - line_end.y; + // check scalar product at end + double extension = dx*dir_x + dy*dir_y; + if (extension>0) + { + line_end.x += dir_x*extension; + line_end.y += dir_y*extension; + } + } + } + +}*/ + + +}//end namespace costmap_converter + + diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_polygons.cpp b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_polygons.cpp new file mode 100644 index 0000000..24aaafc --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_polygons.cpp @@ -0,0 +1,514 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann, Otniel Rinaldo + *********************************************************************/ + +#include +#include +#include + +PLUGINLIB_EXPORT_CLASS(costmap_converter::CostmapToPolygonsDBSMCCH, costmap_converter::BaseCostmapToPolygons) + +namespace +{ + +/** + * @brief Douglas-Peucker Algorithm for fitting lines into ordered set of points + * + * Douglas-Peucker Algorithm, see https://en.wikipedia.org/wiki/Ramer%E2%80%93Douglas%E2%80%93Peucker_algorithm + * + * @param begin iterator pointing to the begin of the range of points + * @param end interator pointing to the end of the range of points + * @param epsilon distance criteria for removing points if it is closer to the line segment than this + * @param result the simplified polygon + */ +std::vector douglasPeucker(std::vector::iterator begin, + std::vector::iterator end, double epsilon) +{ + if (std::distance(begin, end) <= 2) + { + return std::vector(begin, end); + } + + // Find the point with the maximum distance from the line [begin, end) + double dmax = std::numeric_limits::lowest(); + std::vector::iterator max_dist_it; + std::vector::iterator last = std::prev(end); + for (auto it = std::next(begin); it != last; ++it) + { + double d = costmap_converter::computeSquaredDistanceToLineSegment(*it, *begin, *last); + if (d > dmax) + { + max_dist_it = it; + dmax = d; + } + } + + if (dmax < epsilon * epsilon) + { // termination criterion reached, line is good enough + std::vector result; + result.push_back(*begin); + result.push_back(*last); + return result; + } + + // Recursive calls for the two splitted parts + auto firstLineSimplified = douglasPeucker(begin, std::next(max_dist_it), epsilon); + auto secondLineSimplified = douglasPeucker(max_dist_it, end, epsilon); + + // Combine the two lines into one line and return the merged line. + // Note that we have to skip the first point of the second line, as it is duplicated above. + firstLineSimplified.insert(firstLineSimplified.end(), + std::make_move_iterator(std::next(secondLineSimplified.begin())), + std::make_move_iterator(secondLineSimplified.end())); + return firstLineSimplified; +} + +} // end namespace + +namespace costmap_converter +{ + +CostmapToPolygonsDBSMCCH::CostmapToPolygonsDBSMCCH() : BaseCostmapToPolygons() +{ + costmap_ = NULL; + // dynamic_recfg_ = NULL; + neighbor_size_x_ = neighbor_size_y_ = -1; + offset_x_ = offset_y_ = 0.; +} + +CostmapToPolygonsDBSMCCH::~CostmapToPolygonsDBSMCCH() +{ +// if (dynamic_recfg_ != NULL) +// delete dynamic_recfg_; +} + +void CostmapToPolygonsDBSMCCH::initialize(rclcpp::Node::SharedPtr nh) +{ + BaseCostmapToPolygons::initialize(nh); + + costmap_ = NULL; + + parameter_.max_distance_ = 0.4; + nh->get_parameter_or("cluster_max_distance", parameter_.max_distance_, parameter_.max_distance_); + + parameter_.min_pts_ = 2; + nh->get_parameter_or("cluster_min_pts", parameter_.min_pts_, parameter_.min_pts_); + + parameter_.max_pts_ = 30; + nh->get_parameter_or("cluster_max_pts", parameter_.max_pts_, parameter_.max_pts_); + + parameter_.min_keypoint_separation_ = 0.1; + nh->get_parameter_or("convex_hull_min_pt_separation", parameter_.min_keypoint_separation_, parameter_.min_keypoint_separation_); + + parameter_buffered_ = parameter_; + + // setup dynamic reconfigure +// dynamic_recfg_ = new dynamic_reconfigure::Server(nh); +// dynamic_reconfigure::Server::CallbackType cb = boost::bind(&CostmapToPolygonsDBSMCCH::reconfigureCB, this, _1, _2); +// dynamic_recfg_->setCallback(cb); +} + + +void CostmapToPolygonsDBSMCCH::compute() +{ + std::vector< std::vector > clusters; + dbScan(clusters); + + // Create new polygon container + PolygonContainerPtr polygons(new std::vector()); + + + // add convex hulls to polygon container + for (std::size_t i = 1; i push_back( geometry_msgs::msg::Polygon() ); + convexHull2(clusters[i], polygons->back() ); + } + + // add our non-cluster points to the polygon container (as single points) + if (!clusters.empty()) + { + for (std::size_t i=0; i < clusters.front().size(); ++i) + { + polygons->push_back( geometry_msgs::msg::Polygon() ); + convertPointToPolygon(clusters.front()[i], polygons->back()); + } + } + + // replace shared polygon container + updatePolygonContainer(polygons); +} + +void CostmapToPolygonsDBSMCCH::setCostmap2D(nav2_costmap_2d::Costmap2D *costmap) +{ + if (!costmap) + return; + + costmap_ = costmap; + + updateCostmap2D(); +} + +void CostmapToPolygonsDBSMCCH::updateCostmap2D() +{ + occupied_cells_.clear(); + + if (!costmap_->getMutex()) + { + RCLCPP_ERROR(getLogger(), "Cannot update costmap since the mutex pointer is null"); + return; + } + + // TODO: currently dynamic reconigure is not supported in ros2 + { // get a copy of our parameters from dynamic reconfigure + std::lock_guard lock(parameter_mutex_); + parameter_ = parameter_buffered_; + } + + std::unique_lock lock(*costmap_->getMutex()); + + // allocate neighbor lookup + int cells_x = int(costmap_->getSizeInMetersX() / parameter_.max_distance_) + 1; + int cells_y = int(costmap_->getSizeInMetersY() / parameter_.max_distance_) + 1; + + if (cells_x != neighbor_size_x_ || cells_y != neighbor_size_y_) { + neighbor_size_x_ = cells_x; + neighbor_size_y_ = cells_y; + neighbor_lookup_.resize(neighbor_size_x_ * neighbor_size_y_); + } + offset_x_ = costmap_->getOriginX(); + offset_y_ = costmap_->getOriginY(); + for (auto& n : neighbor_lookup_) + n.clear(); + + auto size_x = costmap_->getSizeInCellsX(); + auto size_y = costmap_->getSizeInCellsY(); + + // get indices of obstacle cells + for(std::size_t i = 0; i < size_x; i++) + { + for(std::size_t j = 0; j < size_y; j++) + { + int value = costmap_->getCost(i,j); + if(value >= nav2_costmap_2d::LETHAL_OBSTACLE) + { + double x, y; + costmap_->mapToWorld((unsigned int)i, (unsigned int)j, x, y); + addPoint(x, y); + } + } + } +} + + +void CostmapToPolygonsDBSMCCH::dbScan(std::vector< std::vector >& clusters) +{ + std::vector visited(occupied_cells_.size(), false); + + clusters.clear(); + + //DB Scan Algorithm + int cluster_id = 0; // current cluster_id + clusters.push_back(std::vector()); + for(int i = 0; i< (int)occupied_cells_.size(); i++) + { + if(!visited[i]) //keypoint has not been visited before + { + visited[i] = true; // mark as visited + std::vector neighbors; + regionQuery(i, neighbors); //Find neighbors around the keypoint + if((int)neighbors.size() < parameter_.min_pts_) //If not enough neighbors are found, mark as noise + { + clusters[0].push_back(occupied_cells_[i]); + } + else + { + ++cluster_id; // increment current cluster_id + clusters.push_back(std::vector()); + + // Expand the cluster + clusters[cluster_id].push_back(occupied_cells_[i]); + for(int j = 0; j<(int)neighbors.size(); j++) + { + if ((int)clusters[cluster_id].size() == parameter_.max_pts_) + break; + + if(!visited[neighbors[j]]) //keypoint has not been visited before + { + visited[neighbors[j]] = true; // mark as visited + std::vector further_neighbors; + regionQuery(neighbors[j], further_neighbors); //Find more neighbors around the new keypoint +// if(further_neighbors.size() < min_pts_) +// { +// clusters[0].push_back(occupied_cells[neighbors[j]]); +// } +// else + if ((int)further_neighbors.size() >= parameter_.min_pts_) + { + // neighbors found + neighbors.insert(neighbors.end(), further_neighbors.begin(), further_neighbors.end()); //Add these newfound P' neighbour to P neighbour vector "nb_indeces" + clusters[cluster_id].push_back(occupied_cells_[neighbors[j]]); + } + } + } + } + } + } +} + +void CostmapToPolygonsDBSMCCH::regionQuery(int curr_index, std::vector& neighbors) +{ + neighbors.clear(); + + double dist_sqr_threshold = parameter_.max_distance_ * parameter_.max_distance_; + const KeyPoint& kp = occupied_cells_[curr_index]; + int cx, cy; + pointToNeighborCells(kp, cx,cy); + + // loop over the neighboring cells for looking up the points + const int offsets[9][2] = {{-1, -1}, {0, -1}, {1, -1}, + {-1, 0}, {0, 0}, {1, 0}, + {-1, 1}, {0, 1}, {1, 1}}; + for (int i = 0; i < 9; ++i) + { + int idx = neighborCellsToIndex(cx + offsets[i][0], cy + offsets[i][1]); + if (idx < 0 || idx >= int(neighbor_lookup_.size())) + continue; + const std::vector& pointIndicesToCheck = neighbor_lookup_[idx]; + for (int point_idx : pointIndicesToCheck) { + if (point_idx == curr_index) // point is not a neighbor to itself + continue; + const KeyPoint& other = occupied_cells_[point_idx]; + double dx = other.x - kp.x; + double dy = other.y - kp.y; + double dist_sqr = dx*dx + dy*dy; + if (dist_sqr <= dist_sqr_threshold) + neighbors.push_back(point_idx); + } + } +} + +bool isXCoordinateSmaller(const CostmapToPolygonsDBSMCCH::KeyPoint& p1, const CostmapToPolygonsDBSMCCH::KeyPoint& p2) +{ + return p1.x < p2.x || (p1.x == p2.x && p1.y < p2.y); +} + +void CostmapToPolygonsDBSMCCH::convexHull(std::vector& cluster, geometry_msgs::msg::Polygon& polygon) +{ + //Monotone Chain ConvexHull Algorithm source from http://www.algorithmist.com/index.php/Monotone_Chain_Convex_Hull + + int k = 0; + int n = cluster.size(); + + // sort points according to x coordinate (TODO. is it already sorted due to the map representation?) + std::sort(cluster.begin(), cluster.end(), isXCoordinateSmaller); + + polygon.points.resize(2*n); + + // lower hull + for (int i = 0; i < n; ++i) + { + while (k >= 2 && cross(polygon.points[k-2], polygon.points[k-1], cluster[i]) <= 0) + { + --k; + } + cluster[i].toPointMsg(polygon.points[k]); + ++k; + } + + // upper hull + for (int i = n-2, t = k+1; i >= 0; --i) + { + while (k >= t && cross(polygon.points[k-2], polygon.points[k-1], cluster[i]) <= 0) + { + --k; + } + cluster[i].toPointMsg(polygon.points[k]); + ++k; + } + + + polygon.points.resize(k); // original + // TEST we skip the last point, since in our definition the polygon vertices do not contain the start/end vertex twice. +// polygon.points.resize(k-1); // TODO remove last point from the algorithm above to reduce computational cost + + simplifyPolygon(polygon); +} + + + +void CostmapToPolygonsDBSMCCH::convexHull2(std::vector& cluster, geometry_msgs::msg::Polygon& polygon) +{ + std::vector& P = cluster; + std::vector& points = polygon.points; + + // Sort P by x and y + std::sort(P.begin(), P.end(), isXCoordinateSmaller); + + // the output array H[] will be used as the stack + int i; // array scan index + + // Get the indices of points with min x-coord and min|max y-coord + int minmin = 0, minmax; + double xmin = P[0].x; + for (i = 1; i < (int)P.size(); i++) + if (P[i].x != xmin) break; + minmax = i - 1; + if (minmax == (int)P.size() - 1) + { // degenerate case: all x-coords == xmin + points.push_back(geometry_msgs::msg::Point32()); + P[minmin].toPointMsg(points.back()); + if (P[minmax].y != P[minmin].y) // a nontrivial segment + { + points.push_back(geometry_msgs::msg::Point32()); + P[minmax].toPointMsg(points.back()); + } + // add polygon endpoint + points.push_back(geometry_msgs::msg::Point32()); + P[minmin].toPointMsg(points.back()); + return; + } + + // Get the indices of points with max x-coord and min|max y-coord + int maxmin, maxmax = (int)P.size() - 1; + double xmax = P.back().x; + for (i = P.size() - 2; i >= 0; i--) + if (P[i].x != xmax) break; + maxmin = i+1; + + // Compute the lower hull on the stack H + // push minmin point onto stack + points.push_back(geometry_msgs::msg::Point32()); + P[minmin].toPointMsg(points.back()); + i = minmax; + while (++i <= maxmin) + { + // the lower line joins P[minmin] with P[maxmin] + if (cross(P[minmin], P[maxmin], P[i]) >= 0 && i < maxmin) + continue; // ignore P[i] above or on the lower line + + while (points.size() > 1) // there are at least 2 points on the stack + { + // test if P[i] is left of the line at the stack top + if (cross(points[points.size() - 2], points.back(), P[i]) > 0) + break; // P[i] is a new hull vertex + points.pop_back(); // pop top point off stack + } + // push P[i] onto stack + points.push_back(geometry_msgs::msg::Point32()); + P[i].toPointMsg(points.back()); + } + + // Next, compute the upper hull on the stack H above the bottom hull + if (maxmax != maxmin) // if distinct xmax points + { + // push maxmax point onto stack + points.push_back(geometry_msgs::msg::Point32()); + P[maxmax].toPointMsg(points.back()); + } + int bot = (int)points.size(); // the bottom point of the upper hull stack + i = maxmin; + while (--i >= minmax) + { + // the upper line joins P[maxmax] with P[minmax] + if (cross( P[maxmax], P[minmax], P[i]) >= 0 && i > minmax) + continue; // ignore P[i] below or on the upper line + + while ((int)points.size() > bot) // at least 2 points on the upper stack + { + // test if P[i] is left of the line at the stack top + if (cross(points[points.size() - 2], points.back(), P[i]) > 0) + break; // P[i] is a new hull vertex + points.pop_back(); // pop top point off stack + } + // push P[i] onto stack + points.push_back(geometry_msgs::msg::Point32()); + P[i].toPointMsg(points.back()); + } + if (minmax != minmin) + { + // push joining endpoint onto stack + points.push_back(geometry_msgs::msg::Point32()); + P[minmin].toPointMsg(points.back()); + } + + simplifyPolygon(polygon); +} + +void CostmapToPolygonsDBSMCCH::simplifyPolygon(geometry_msgs::msg::Polygon& polygon) +{ + size_t triangleThreshold = 3; + // check if first and last point are the same. If yes, a triangle has 4 points + if (polygon.points.size() > 1 + && std::abs(polygon.points.front().x - polygon.points.back().x) < 1e-5 + && std::abs(polygon.points.front().y - polygon.points.back().y) < 1e-5) + { + triangleThreshold = 4; + } + if (polygon.points.size() <= triangleThreshold) // nothing to do for triangles or lines + return; + // TODO Reason about better start conditions for splitting lines, e.g., by + // https://en.wikipedia.org/wiki/Rotating_calipers + polygon.points = douglasPeucker(polygon.points.begin(), polygon.points.end(), parameter_.min_keypoint_separation_);; +} + +void CostmapToPolygonsDBSMCCH::updatePolygonContainer(PolygonContainerPtr polygons) +{ + std::lock_guard lock(mutex_); + polygons_ = polygons; +} + + +PolygonContainerConstPtr CostmapToPolygonsDBSMCCH::getPolygons() +{ + std::lock_guard lock(mutex_); + PolygonContainerConstPtr polygons = polygons_; + return polygons; +} + +//void CostmapToPolygonsDBSMCCH::reconfigureCB(CostmapToPolygonsDBSMCCHConfig& config, uint32_t level) +//{ + //boost::mutex::scoped_lock lock(parameter_mutex_); + //parameter_buffered_.max_distance_ = config.cluster_max_distance; + //parameter_buffered_.min_pts_ = config.cluster_min_pts; + //parameter_buffered_.max_pts_ = config.cluster_max_pts; + //parameter_buffered_.min_keypoint_separation_ = config.convex_hull_min_pt_separation; +//} + +}//end namespace costmap_converter + + diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_polygons_concave.cpp b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_polygons_concave.cpp new file mode 100644 index 0000000..f2ba987 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/src/costmap_to_polygons_concave.cpp @@ -0,0 +1,231 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann, Otniel Rinaldo + *********************************************************************/ + +#include + +#include + +PLUGINLIB_EXPORT_CLASS(costmap_converter::CostmapToPolygonsDBSConcaveHull, costmap_converter::BaseCostmapToPolygons) + +namespace costmap_converter +{ + +CostmapToPolygonsDBSConcaveHull::CostmapToPolygonsDBSConcaveHull() : CostmapToPolygonsDBSMCCH() +{ +// dynamic_recfg_ = NULL; +} + +CostmapToPolygonsDBSConcaveHull::~CostmapToPolygonsDBSConcaveHull() +{ +// if (dynamic_recfg_ != NULL) +// delete dynamic_recfg_; +} + +void CostmapToPolygonsDBSConcaveHull::initialize(rclcpp::Node::SharedPtr nh) +{ + BaseCostmapToPolygons::initialize(nh); + + parameter_.max_distance_ = 0.4; + nh->get_parameter_or("cluster_max_distance", parameter_.max_distance_, parameter_.max_distance_); + + parameter_.min_pts_ = 2; + nh->get_parameter_or("cluster_min_pts", parameter_.min_pts_, parameter_.min_pts_); + + parameter_.max_pts_ = 30; + nh->get_parameter_or("cluster_max_pts", parameter_.max_pts_, parameter_.max_pts_); + + parameter_.min_keypoint_separation_ = 0.1; + nh->get_parameter_or("convex_hull_min_pt_separation", parameter_.min_keypoint_separation_, parameter_.min_keypoint_separation_); + + parameter_buffered_ = parameter_; + + concave_hull_depth_ = 2.0; + nh->get_parameter_or("concave_hull_depth", concave_hull_depth_, concave_hull_depth_); + + // setup dynamic reconfigure +// dynamic_recfg_ = new dynamic_reconfigure::Server(nh); +// dynamic_reconfigure::Server::CallbackType cb = boost::bind(&CostmapToPolygonsDBSConcaveHull::reconfigureCB, this, _1, _2); +// dynamic_recfg_->setCallback(cb); +} + + +void CostmapToPolygonsDBSConcaveHull::compute() +{ + std::vector< std::vector > clusters; + dbScan(clusters); + + // Create new polygon container + PolygonContainerPtr polygons(new std::vector()); + + + // add convex hulls to polygon container + for (size_t i = 1; i push_back( geometry_msgs::msg::Polygon() ); + concaveHull(clusters[i], concave_hull_depth_, polygons->back() ); + } + + // add our non-cluster points to the polygon container (as single points) + if (!clusters.empty()) + { + for (size_t i=0; i < clusters.front().size(); ++i) + { + polygons->push_back( geometry_msgs::msg::Polygon() ); + convertPointToPolygon(clusters.front()[i], polygons->back()); + } + } + + // replace shared polygon container + updatePolygonContainer(polygons); +} + + +void CostmapToPolygonsDBSConcaveHull::concaveHull(std::vector& cluster, double depth, geometry_msgs::msg::Polygon& polygon) +{ + // start with convex hull + convexHull2(cluster, polygon); + + std::vector& concave_list = polygon.points; + + for (int i = 0; i < (int)concave_list.size() - 1; ++i) + { + + // find nearest inner point pk from line (vertex1 -> vertex2) + const geometry_msgs::msg::Point32& vertex1 = concave_list[i]; + const geometry_msgs::msg::Point32& vertex2 = concave_list[i+1]; + + bool found; + size_t nearest_idx = findNearestInnerPoint(vertex1, vertex2, cluster, concave_list, &found); + if (!found) + continue; + + double line_length = norm2d(vertex1, vertex2); + + double dst1 = norm2d(cluster[nearest_idx], vertex1); + double dst2 = norm2d(cluster[nearest_idx], vertex2); + double dd = std::min(dst1, dst2); + if (dd<1e-8) + continue; + + if (line_length / dd > depth) + { + // Check that new candidate edge will not intersect existing edges. + bool intersects = checkLineIntersection(concave_list, vertex1, vertex2, vertex1, cluster[nearest_idx]); + intersects |= checkLineIntersection(concave_list, vertex1, vertex2, cluster[nearest_idx], vertex2); + if (!intersects) + { + geometry_msgs::msg::Point32 new_point; + cluster[nearest_idx].toPointMsg(new_point); + concave_list.insert(concave_list.begin() + i + 1, new_point); + i--; + } + } + } +} + + +void CostmapToPolygonsDBSConcaveHull::concaveHullClusterCut(std::vector& cluster, double depth, geometry_msgs::msg::Polygon& polygon) +{ + // start with convex hull + convexHull2(cluster, polygon); + + std::vector& concave_list = polygon.points; + + // get line length + double mean_length = 0; + for (int i = 0; i < (int)concave_list.size() - 1; ++i) + { + mean_length += norm2d(concave_list[i],concave_list[i+1]); + } + mean_length /= double(concave_list.size()); + + for (int i = 0; i < (int)concave_list.size() - 1; ++i) + { + + // find nearest inner point pk from line (vertex1 -> vertex2) + const geometry_msgs::msg::Point32& vertex1 = concave_list[i]; + const geometry_msgs::msg::Point32& vertex2 = concave_list[i+1]; + + double line_length = norm2d(vertex1, vertex2); + + bool found; + size_t nearest_idx = findNearestInnerPoint(vertex1, vertex2, cluster, concave_list, &found); + if (!found) + { + continue; + } + + + double dst1 = norm2d(cluster[nearest_idx], vertex1); + double dst2 = norm2d(cluster[nearest_idx], vertex2); + double dd = std::min(dst1, dst2); + if (dd<1e-8) + continue; + + if (line_length / dd > depth) + { + // Check that new candidate edge will not intersect existing edges. + bool intersects = checkLineIntersection(concave_list, vertex1, vertex2, vertex1, cluster[nearest_idx]); + intersects |= checkLineIntersection(concave_list, vertex1, vertex2, cluster[nearest_idx], vertex2); + if (!intersects) + { + geometry_msgs::msg::Point32 new_point; + cluster[nearest_idx].toPointMsg(new_point); + concave_list.insert(concave_list.begin() + i + 1, new_point); + i--; + } + } + } +} + + + + +//void CostmapToPolygonsDBSConcaveHull::reconfigureCB(CostmapToPolygonsDBSConcaveHullConfig& config, uint32_t level) +//{ +// boost::mutex::scoped_lock lock(parameter_mutex_); +// parameter_buffered_.max_distance_ = config.cluster_max_distance; +// parameter_buffered_.min_pts_ = config.cluster_min_pts; +// parameter_buffered_.max_pts_ = config.cluster_max_pts; +// parameter_buffered_.min_keypoint_separation_ = config.cluster_min_pts; +// concave_hull_depth_ = config.concave_hull_depth; +//} + +}//end namespace costmap_converter + + diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/test/costmap_polygons.cpp b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/test/costmap_polygons.cpp new file mode 100644 index 0000000..e563475 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/test/costmap_polygons.cpp @@ -0,0 +1,230 @@ +#include +#include +#include + +#include + +namespace { +geometry_msgs::msg::Point32 create_point(double x, double y) +{ + geometry_msgs::msg::Point32 result; + result.x = x; + result.y = y; + result.z = 0.; + return result; +} +} // end namespace + +// make things accesible in the test +class CostmapToPolygons : public costmap_converter::CostmapToPolygonsDBSMCCH +{ + public: + const std::vector& points() const {return occupied_cells_;} + costmap_converter::CostmapToPolygonsDBSMCCH::Parameters& parameters() {return parameter_;} + using costmap_converter::CostmapToPolygonsDBSMCCH::addPoint; + using costmap_converter::CostmapToPolygonsDBSMCCH::regionQuery; + using costmap_converter::CostmapToPolygonsDBSMCCH::dbScan; + using costmap_converter::CostmapToPolygonsDBSMCCH::convexHull2; + using costmap_converter::CostmapToPolygonsDBSMCCH::simplifyPolygon; +}; + +class CostmapToPolygonsDBSMCCHTest : public ::testing::Test +{ + protected: + void SetUp() override { + // parameters + costmap_to_polygons.parameters().max_distance_ = 0.5; + costmap_to_polygons.parameters().max_pts_ = 100; + costmap_to_polygons.parameters().min_pts_ = 2; + costmap_to_polygons.parameters().min_keypoint_separation_ = 0.1; + + costmap.reset(new nav2_costmap_2d::Costmap2D(100, 100, 0.1, -5., -5.)); + costmap_to_polygons.setCostmap2D(costmap.get()); + + std::random_device rand_dev; + std::mt19937 generator(rand_dev()); + std::uniform_real_distribution<> random_angle(-M_PI, M_PI); + std::uniform_real_distribution<> random_dist(0., costmap_to_polygons.parameters().max_distance_); + + costmap_to_polygons.addPoint(0., 0.); + costmap_to_polygons.addPoint(1.3, 1.3); + + // adding random points + double center_x = costmap_to_polygons.points()[0].x; + double center_y = costmap_to_polygons.points()[0].y; + for (int i = 0; i < costmap_to_polygons.parameters().max_pts_ - 1; ++i) + { + double alpha = random_angle(generator); + double dist = random_dist(generator); + double wx = center_x + std::cos(alpha) * dist; + double wy = center_y + std::sin(alpha) * dist; + costmap_to_polygons.addPoint(wx, wy); + } + + // some noisy points not belonging to a cluster + costmap_to_polygons.addPoint(-1, -1); + costmap_to_polygons.addPoint(-2, -2); + + // adding random points + center_x = costmap_to_polygons.points()[1].x; + center_y = costmap_to_polygons.points()[1].y; + for (int i = 0; i < costmap_to_polygons.parameters().max_pts_/2; ++i) + { + double alpha = random_angle(generator); + double dist = random_dist(generator); + double wx = center_x + std::cos(alpha) * dist; + double wy = center_y + std::sin(alpha) * dist; + costmap_to_polygons.addPoint(wx, wy); + } + } + + void regionQueryTrivial(int curr_index, std::vector& neighbor_indices) + { + neighbor_indices.clear(); + const auto& query_point = costmap_to_polygons.points()[curr_index]; + for (int i = 0; i < int(costmap_to_polygons.points().size()); ++i) + { + if (i == curr_index) + continue; + const auto& kp = costmap_to_polygons.points()[i]; + double dx = query_point.x - kp.x; + double dy = query_point.y - kp.y; + double dist = sqrt(dx*dx + dy*dy); + if (dist < costmap_to_polygons.parameters().max_distance_) + neighbor_indices.push_back(i); + } + } + + CostmapToPolygons costmap_to_polygons; + std::shared_ptr costmap; +}; + +TEST_F(CostmapToPolygonsDBSMCCHTest, regionQuery) +{ + std::vector neighbors, neighbors_trivial; + costmap_to_polygons.regionQuery(0, neighbors); + regionQueryTrivial(0, neighbors_trivial); + ASSERT_EQ(costmap_to_polygons.parameters().max_pts_ - 1, int(neighbors.size())); + ASSERT_EQ(neighbors_trivial.size(), neighbors.size()); + std::sort(neighbors.begin(), neighbors.end()); + ASSERT_EQ(neighbors_trivial, neighbors); + + costmap_to_polygons.regionQuery(1, neighbors); + regionQueryTrivial(1, neighbors_trivial); + ASSERT_EQ(costmap_to_polygons.parameters().max_pts_/2, int(neighbors.size())); + ASSERT_EQ(neighbors_trivial.size(), neighbors.size()); + std::sort(neighbors.begin(), neighbors.end()); + ASSERT_EQ(neighbors_trivial, neighbors); +} + +TEST_F(CostmapToPolygonsDBSMCCHTest, dbScan) +{ + std::vector< std::vector > clusters; + costmap_to_polygons.dbScan(clusters); + + ASSERT_EQ((unsigned)3, clusters.size()); + ASSERT_EQ((unsigned)2, clusters[0].size()); // noisy points not belonging to a cluster + ASSERT_EQ((unsigned)costmap_to_polygons.parameters().max_pts_, clusters[1].size()); // first cluster at (0,0) + ASSERT_EQ((unsigned)costmap_to_polygons.parameters().max_pts_/2 + 1, clusters[2].size()); // second cluster at (1,1) +} + +TEST(CostmapToPolygonsDBSMCCH, EmptyMap) +{ + std::shared_ptr costmap = + std::make_shared(nav2_costmap_2d::Costmap2D(100, 100, 0.1, -5., -5.)); + CostmapToPolygons costmap_to_polygons; + costmap_to_polygons.setCostmap2D(costmap.get()); + + std::vector< std::vector > clusters; + costmap_to_polygons.dbScan(clusters); + ASSERT_EQ((unsigned)1, clusters.size()); // noise cluster exists + ASSERT_EQ((unsigned)0, clusters[0].size()); // noise clsuter is empty +} + +TEST(CostmapToPolygonsDBSMCCH, SimplifyPolygon) +{ + const double simplification_threshold = 0.1; + CostmapToPolygons costmap_to_polygons; + costmap_to_polygons.parameters().min_keypoint_separation_ = simplification_threshold; + + geometry_msgs::msg::Polygon polygon; + polygon.points.push_back(create_point(0., 0.)); + polygon.points.push_back(create_point(1., 0.)); + + // degenerate case with just two points + geometry_msgs::msg::Polygon original_polygon = polygon; + costmap_to_polygons.simplifyPolygon(polygon); + ASSERT_EQ((unsigned)2, polygon.points.size()); + for (size_t i = 0; i < polygon.points.size(); ++i) + { + ASSERT_FLOAT_EQ(original_polygon.points[i].x, polygon.points[i].x); + ASSERT_FLOAT_EQ(original_polygon.points[i].y, polygon.points[i].y); + } + + // degenerate case with three points + polygon.points.push_back(create_point(1., simplification_threshold / 2.)); + original_polygon = polygon; + costmap_to_polygons.simplifyPolygon(polygon); + ASSERT_EQ((unsigned)3, polygon.points.size()); + for (size_t i = 0; i < polygon.points.size(); ++i) + { + ASSERT_FLOAT_EQ(original_polygon.points[i].x, polygon.points[i].x); + ASSERT_FLOAT_EQ(original_polygon.points[i].y, polygon.points[i].y); + } + + polygon.points.push_back(create_point(1., 1.)); + original_polygon = polygon; + // remove the point that has to be removed by the simplification + original_polygon.points.erase(original_polygon.points.begin()+2); + costmap_to_polygons.simplifyPolygon(polygon); + ASSERT_EQ((unsigned)3, polygon.points.size()); + for (size_t i = 0; i < polygon.points.size(); ++i) + { + ASSERT_FLOAT_EQ(original_polygon.points[i].x, polygon.points[i].x); + ASSERT_FLOAT_EQ(original_polygon.points[i].y, polygon.points[i].y); + } +} + +TEST(CostmapToPolygonsDBSMCCH, SimplifyPolygonPerfectLines) +{ + const double simplification_threshold = 0.1; + CostmapToPolygons costmap_to_polygons; + costmap_to_polygons.parameters().min_keypoint_separation_ = simplification_threshold; + + geometry_msgs::msg::Polygon polygon; + for (int i = 0; i <= 100; ++i) + polygon.points.push_back(create_point(i*1., 0.)); + geometry_msgs::msg::Point32 lastPoint = polygon.points.back(); + for (int i = 0; i <= 100; ++i) + polygon.points.push_back(create_point(lastPoint.x, lastPoint.y + i * 1.)); + lastPoint = polygon.points.back(); + for (int i = 0; i <= 100; ++i) + polygon.points.push_back(create_point(lastPoint.x + i * 1., lastPoint.y)); + lastPoint = polygon.points.back(); + for (int i = 0; i <= 100; ++i) + polygon.points.push_back(create_point(lastPoint.x, lastPoint.y + i * 1.)); + lastPoint = polygon.points.back(); + for (int i = 0; i <= 100; ++i) + polygon.points.push_back(create_point(lastPoint.x + i * 1., lastPoint.y)); + + costmap_to_polygons.simplifyPolygon(polygon); + ASSERT_EQ((unsigned)6, polygon.points.size()); + ASSERT_FLOAT_EQ( 0., polygon.points[0].x); + ASSERT_FLOAT_EQ( 0., polygon.points[0].y); + ASSERT_FLOAT_EQ(100., polygon.points[1].x); + ASSERT_FLOAT_EQ( 0., polygon.points[1].y); + ASSERT_FLOAT_EQ(100., polygon.points[2].x); + ASSERT_FLOAT_EQ(100., polygon.points[2].y); + ASSERT_FLOAT_EQ(200., polygon.points[3].x); + ASSERT_FLOAT_EQ(100., polygon.points[3].y); + ASSERT_FLOAT_EQ(200., polygon.points[4].x); + ASSERT_FLOAT_EQ(200., polygon.points[4].y); + ASSERT_FLOAT_EQ(300., polygon.points[5].x); + ASSERT_FLOAT_EQ(200., polygon.points[5].y); +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/test/costmap_polygons.test b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/test/costmap_polygons.test new file mode 100644 index 0000000..8f42354 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter/test/costmap_polygons.test @@ -0,0 +1,3 @@ + + + diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter_msgs/CHANGELOG.rst b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter_msgs/CHANGELOG.rst new file mode 100644 index 0000000..f3fabe8 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter_msgs/CHANGELOG.rst @@ -0,0 +1,41 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package costmap_converter_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.1.2 (2020-06-22) +------------------ + +0.1.1 (2020-01-25) +------------------ + +0.1.0 (2020-01-23) +------------------ +* Messages moved to a separate package +* Contributors: Vinnam Kim + +0.0.9 (2018-05-28) +------------------ + +0.0.8 (2018-05-17) +------------------ + +0.0.7 (2017-09-20) +------------------ + +0.0.6 (2017-09-18) +------------------ + +0.0.5 (2016-02-01) +------------------ + +0.0.4 (2016-01-11) +------------------ + +0.0.3 (2015-12-23) +------------------ + +0.0.2 (2015-12-22) +------------------ + +0.0.1 (2015-12-21) +------------------ diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter_msgs/CMakeLists.txt b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter_msgs/CMakeLists.txt new file mode 100644 index 0000000..9ad3ee4 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter_msgs/CMakeLists.txt @@ -0,0 +1,26 @@ +cmake_minimum_required(VERSION 3.5) + +project(costmap_converter_msgs) + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake REQUIRED) +find_package(builtin_interfaces REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(std_msgs REQUIRED) +find_package(rosidl_default_generators REQUIRED) + +rosidl_generate_interfaces(costmap_converter_msgs + "msg/ObstacleMsg.msg" + "msg/ObstacleArrayMsg.msg" + DEPENDENCIES builtin_interfaces geometry_msgs std_msgs +) + +ament_package() diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter_msgs/msg/ObstacleArrayMsg.msg b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter_msgs/msg/ObstacleArrayMsg.msg new file mode 100644 index 0000000..e4eec4d --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter_msgs/msg/ObstacleArrayMsg.msg @@ -0,0 +1,10 @@ +# Message that contains a list of polygon shaped obstacles. +# Special types: +# Polygon with 1 vertex: Point obstacle +# Polygon with 2 vertices: Line obstacle +# Polygon with more than 2 vertices: First and last points are assumed to be connected + +std_msgs/Header header + +costmap_converter_msgs/ObstacleMsg[] obstacles + diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter_msgs/msg/ObstacleMsg.msg b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter_msgs/msg/ObstacleMsg.msg new file mode 100644 index 0000000..9a463a3 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter_msgs/msg/ObstacleMsg.msg @@ -0,0 +1,24 @@ +# Special types: +# Polygon with 1 vertex: Point obstacle (you might also specify a non-zero value for radius) +# Polygon with 2 vertices: Line obstacle +# Polygon with more than 2 vertices: First and last points are assumed to be connected + +std_msgs/Header header + +# Obstacle footprint (polygon descriptions) +geometry_msgs/Polygon polygon + +# Specify the radius for circular/point obstacles +float64 radius + +# Obstacle ID +# Specify IDs in order to provide (temporal) relationships +# between obstacles among multiple messages. +int64 id + +# Individual orientation (centroid) +geometry_msgs/Quaternion orientation + +# Individual velocities (centroid) +geometry_msgs/TwistWithCovariance velocities + diff --git a/src/rm_nav/rm_navigation/costmap_converter/costmap_converter_msgs/package.xml b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter_msgs/package.xml new file mode 100644 index 0000000..faa0863 --- /dev/null +++ b/src/rm_nav/rm_navigation/costmap_converter/costmap_converter_msgs/package.xml @@ -0,0 +1,31 @@ + + + + costmap_converter_msgs + 0.1.2 + Package containing message types for costmap conversion + Christoph Rösmann + + BSD + + ament_cmake + + rosidl_default_generators + + builtin_interfaces + geometry_msgs + std_msgs + + builtin_interfaces + geometry_msgs + rosidl_default_runtime + std_msgs + + ament_lint_common + + rosidl_interface_packages + + + ament_cmake + + diff --git a/src/rm_nav/rm_navigation/fake_vel_transform/CMakeLists.txt b/src/rm_nav/rm_navigation/fake_vel_transform/CMakeLists.txt new file mode 100644 index 0000000..cf42230 --- /dev/null +++ b/src/rm_nav/rm_navigation/fake_vel_transform/CMakeLists.txt @@ -0,0 +1,55 @@ +cmake_minimum_required(VERSION 3.10) +project(fake_vel_transform) + +## Use C++14 +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +## By adding -Wall and -Werror, the compiler does not ignore warnings anymore, +## enforcing cleaner code. +add_definitions(-Wall -Werror) + +## Export compile commands for clangd +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) + +####################### +## Find dependencies ## +####################### + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +########### +## Build ## +########### + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/fake_vel_transform.cpp +) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN fake_vel_transform::FakeVelTransform + EXECUTABLE ${PROJECT_NAME}_node +) + +############# +## Testing ## +############# + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + list(APPEND AMENT_LINT_AUTO_EXCLUDE + ament_cmake_copyright + ament_cmake_uncrustify + ) + ament_lint_auto_find_test_dependencies() +endif() + +############# +## Install ## +############# + +ament_auto_package( + INSTALL_TO_SHARE + launch +) diff --git a/src/rm_nav/rm_navigation/fake_vel_transform/README.md b/src/rm_nav/rm_navigation/fake_vel_transform/README.md new file mode 100644 index 0000000..a43c718 --- /dev/null +++ b/src/rm_nav/rm_navigation/fake_vel_transform/README.md @@ -0,0 +1,29 @@ +# fake_vel_transform + +该包用于实现雷达和云台共用的 yaw 轴时的兼容性，即使云台处于旋转扫描状态，速度变换后，仍然可以实现较稳定的轨迹跟踪效果。 + +## 实现方式 + +创建 XYZ 轴基于 `base_link`, RPY 轴基于局部路径规划朝向的 `base_link_fake` 坐标系，使得 nav2 局部规划器能够将机器人的方向视为与当前路径规划方向一致。 + +nav2 发布的速度也是基于 `base_link_fake` 坐标系的，通过 tf2 将速度转换到 `base_link` 坐标系，使机器人能够正常运动。在仿真中表现即底盘小陀螺时仍能跟随轨迹。 + +电控端执行底盘控制命令时，机器人运动正方向为云台枪管朝向。 + +## fake_vel_transform_node + +订阅： + +- nav2 发布的基于 base_link_fake 坐标系的速度指令 `/cmd_vel` +- nav2 controller 发布的局部路径朝向 `/local_path` +- `odom` 到 `base_link` 的 tf 变换 + +发布： + +- 转换到 base_link 坐标系的速度 `/cmd_vel_chassis` + +静态参数： + +- 底盘固定旋转速度 `spin_speed` + + 搭配电控固定小陀螺速度，将 spin_speed 设为负，可实现移动时小陀螺减慢。 diff --git a/src/rm_nav/rm_navigation/fake_vel_transform/include/fake_vel_transform/fake_vel_transform.hpp b/src/rm_nav/rm_navigation/fake_vel_transform/include/fake_vel_transform/fake_vel_transform.hpp new file mode 100644 index 0000000..3ca3892 --- /dev/null +++ b/src/rm_nav/rm_navigation/fake_vel_transform/include/fake_vel_transform/fake_vel_transform.hpp @@ -0,0 +1,56 @@ +#ifndef FAKE_VEL_TRANSFORM__FAKE_VEL_TRANSFORM_HPP_ +#define FAKE_VEL_TRANSFORM__FAKE_VEL_TRANSFORM_HPP_ + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace fake_vel_transform +{ +class FakeVelTransform : public rclcpp::Node +{ +public: + explicit FakeVelTransform(const rclcpp::NodeOptions & options); + +private: + void cmdVelCallback(const geometry_msgs::msg::Twist::SharedPtr msg); + + void localPoseCallback(const nav_msgs::msg::Path::SharedPtr msg); + + void publishTransform(); + + // Subscriber with tf2 message_filter + std::string target_frame_; + std::shared_ptr tf2_buffer_; + std::shared_ptr tf2_listener_; + + rclcpp::Subscription::SharedPtr cmd_vel_sub_; + rclcpp::Subscription::SharedPtr local_pose_sub_; + + rclcpp::Publisher::SharedPtr cmd_vel_chassis_pub_; + + // Broadcast tf from base_link to base_link_fake + rclcpp::TimerBase::SharedPtr tf_timer_; + std::unique_ptr tf_broadcaster_; + + geometry_msgs::msg::PoseStamped planner_local_pose_; + double current_angle_; + double base_link_angle_; + float spin_speed_; +}; + +} // namespace fake_vel_transform + +#endif // FAKE_VEL_TRANSFORM__FAKE_VEL_TRANSFORM_HPP_ diff --git a/src/rm_nav/rm_navigation/fake_vel_transform/launch/fake_vel_transform.launch.py b/src/rm_nav/rm_navigation/fake_vel_transform/launch/fake_vel_transform.launch.py new file mode 100644 index 0000000..18cf552 --- /dev/null +++ b/src/rm_nav/rm_navigation/fake_vel_transform/launch/fake_vel_transform.launch.py @@ -0,0 +1,20 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + +def generate_launch_description(): + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + + fake_vel_transform_node = Node( + package='fake_vel_transform', + executable='fake_vel_transform_node', + output='screen', + parameters=[ + {'use_sim_time': use_sim_time } + ] + ) + + return LaunchDescription([fake_vel_transform_node]) diff --git a/src/rm_nav/rm_navigation/fake_vel_transform/package.xml b/src/rm_nav/rm_navigation/fake_vel_transform/package.xml new file mode 100644 index 0000000..9be9e08 --- /dev/null +++ b/src/rm_nav/rm_navigation/fake_vel_transform/package.xml @@ -0,0 +1,31 @@ + + + + fake_vel_transform + 0.1.0 + A template for ROS packages. + MIT + Lihan Chen + Lihan Chen + + + ament_cmake + + + rclcpp + rclcpp_components + geometry_msgs + nav_msgs + tf2_ros + tf2_geometry_msgs + + ament_lint_auto + ament_lint_common + ament_cmake_clang_format + + + ament_cmake + + diff --git a/src/rm_nav/rm_navigation/fake_vel_transform/src/fake_vel_transform.cpp b/src/rm_nav/rm_navigation/fake_vel_transform/src/fake_vel_transform.cpp new file mode 100644 index 0000000..53b0a86 --- /dev/null +++ b/src/rm_nav/rm_navigation/fake_vel_transform/src/fake_vel_transform.cpp @@ -0,0 +1,103 @@ +#include "fake_vel_transform/fake_vel_transform.hpp" + +#include + +#include +#include +#include + +namespace fake_vel_transform +{ +const std::string CMD_VEL_TOPIC = "/cmd_vel"; +const std::string AFTER_TF_CMD_VEL = "/cmd_vel_chassis"; +const std::string TRAJECTORY_TOPIC = "/local_plan"; +const int TF_PUBLISH_FREQUENCY = 20; // base_link to base_link_fake. Frequency in Hz. + +FakeVelTransform::FakeVelTransform(const rclcpp::NodeOptions & options) +: Node("fake_vel_transform", options) +{ + RCLCPP_INFO(get_logger(), "Start FakeVelTransform!"); + + // Declare and get the spin speed parameter + this->declare_parameter("spin_speed", -6.0); + this->get_parameter("spin_speed", spin_speed_); + + // TF broadcaster + tf_broadcaster_ = std::make_unique(*this); + tf2_buffer_ = std::make_unique(this->get_clock()); + tf2_listener_ = std::make_shared(*tf2_buffer_); + + // Create Publisher and Subscriber + cmd_vel_sub_ = this->create_subscription( + CMD_VEL_TOPIC, 1, std::bind(&FakeVelTransform::cmdVelCallback, this, std::placeholders::_1)); + cmd_vel_chassis_pub_ = this->create_publisher( + AFTER_TF_CMD_VEL, rclcpp::QoS(rclcpp::KeepLast(1))); + local_pose_sub_ = this->create_subscription( + TRAJECTORY_TOPIC, 1, + std::bind(&FakeVelTransform::localPoseCallback, this, std::placeholders::_1)); + + // Create a timer to publish the transform regularly + tf_timer_ = this->create_wall_timer( + std::chrono::milliseconds(1000 / TF_PUBLISH_FREQUENCY), + std::bind(&FakeVelTransform::publishTransform, this)); +} + +// Get the local pose from planner +void FakeVelTransform::localPoseCallback(const nav_msgs::msg::Path::SharedPtr msg) +{ + if (!msg || msg->poses.empty()) { + RCLCPP_WARN(get_logger(), "Received empty or invalid PoseArray message"); + return; + } + + // Choose the pose based on the size of the poses array + size_t index = std::min(msg->poses.size() / 4, msg->poses.size() - 1); + const geometry_msgs::msg::Pose & selected_pose = msg->poses[index].pose; + + // Update current angle based on the difference between teb_angle and base_link_angle_ + double teb_angle = tf2::getYaw(selected_pose.orientation); + current_angle_ = teb_angle - base_link_angle_; +} + +// Transform the velocity from base_link to base_link_fake +void FakeVelTransform::cmdVelCallback(const geometry_msgs::msg::Twist::SharedPtr msg) +{ + try { + geometry_msgs::msg::TransformStamped transform_stamped; + transform_stamped = tf2_buffer_->lookupTransform("odom", "base_link", tf2::TimePointZero); + base_link_angle_ = tf2::getYaw(transform_stamped.transform.rotation); + + double angle_diff = -current_angle_; + + geometry_msgs::msg::Twist aft_tf_vel; + aft_tf_vel.angular.z = (msg->angular.z != 0) ? spin_speed_ : 0; + aft_tf_vel.linear.x = msg->linear.x * cos(angle_diff) + msg->linear.y * sin(angle_diff); + aft_tf_vel.linear.y = -msg->linear.x * sin(angle_diff) + msg->linear.y * cos(angle_diff); + + cmd_vel_chassis_pub_->publish(aft_tf_vel); + } catch (tf2::TransformException & ex) { + RCLCPP_INFO(this->get_logger(), "Could not transform odom to base_link: %s", ex.what()); + } +} + +// Publish transform from base_link to base_link_fake +void FakeVelTransform::publishTransform() +{ + geometry_msgs::msg::TransformStamped t; + t.header.stamp = get_clock()->now(); + t.header.frame_id = "base_link"; + t.child_frame_id = "base_link_fake"; + tf2::Quaternion q; + q.setRPY(0, 0, current_angle_); + t.transform.rotation = tf2::toMsg(q); + tf_broadcaster_->sendTransform(t); +} + +} // namespace fake_vel_transform + +#include "rclcpp_components/register_node_macro.hpp" + +// Register the component with class_loader. +// This acts as a sort of entry point, allowing the component to be discoverable when its library +// is being loaded into a running process. +RCLCPP_COMPONENTS_REGISTER_NODE(fake_vel_transform::FakeVelTransform) \ No newline at end of file diff --git a/src/rm_nav/rm_navigation/rm_navigation/CMakeLists.txt b/src/rm_nav/rm_navigation/rm_navigation/CMakeLists.txt new file mode 100644 index 0000000..319374c --- /dev/null +++ b/src/rm_nav/rm_navigation/rm_navigation/CMakeLists.txt @@ -0,0 +1,34 @@ +cmake_minimum_required(VERSION 3.8) +project(rm_navigation) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +if(CMAKE_EXPORT_COMPILE_COMMANDS) + set(CMAKE_EXPORT_COMPILE_COMMANDS ${CMAKE_EXPORT_COMPILE_COMMANDS}) +endif() + +# find dependencies +find_package(ament_cmake_auto REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package(INSTALL_TO_SHARE + params + rviz + launch + ) diff --git a/src/rm_nav/rm_navigation/rm_navigation/launch/bringup_rm_navigation.py b/src/rm_nav/rm_navigation/rm_navigation/launch/bringup_rm_navigation.py new file mode 100644 index 0000000..f634161 --- /dev/null +++ b/src/rm_nav/rm_navigation/rm_navigation/launch/bringup_rm_navigation.py @@ -0,0 +1,156 @@ +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import (DeclareLaunchArgument, GroupAction, + IncludeLaunchDescription, SetEnvironmentVariable) +from launch.conditions import IfCondition +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch_ros.actions import PushRosNamespace +from nav2_common.launch import RewrittenYaml + + +def generate_launch_description(): + # Get the launch directory + bringup_dir = get_package_share_directory('rm_navigation') + launch_dir = os.path.join(bringup_dir, 'launch') + + # Create the launch configuration variables + namespace = LaunchConfiguration('namespace') + use_namespace = LaunchConfiguration('use_namespace') + map_yaml_file = LaunchConfiguration('map') + use_sim_time = LaunchConfiguration('use_sim_time') + params_file = LaunchConfiguration('params_file') + autostart = LaunchConfiguration('autostart') + use_composition = LaunchConfiguration('use_composition') + use_respawn = LaunchConfiguration('use_respawn') + log_level = LaunchConfiguration('log_level') + use_nav_rviz = LaunchConfiguration('nav_rviz') + + remappings = [('/tf', 'tf'), + ('/tf_static', 'tf_static')] + + # Create our own temporary YAML files that include substitutions + param_substitutions = { + 'use_sim_time': use_sim_time, + 'yaml_filename': map_yaml_file} + + configured_params = RewrittenYaml( + source_file=params_file, + root_key=namespace, + param_rewrites=param_substitutions, + convert_types=True) + + stdout_linebuf_envvar = SetEnvironmentVariable( + 'RCUTILS_LOGGING_BUFFERED_STREAM', '1') + + declare_namespace_cmd = DeclareLaunchArgument( + 'namespace', + default_value='', + description='Top-level namespace') + + declare_use_namespace_cmd = DeclareLaunchArgument( + 'use_namespace', + default_value='false', + description='Whether to apply a namespace to the navigation stack') + + declare_use_slam_cmd = DeclareLaunchArgument( + 'use_slam', + default_value='True', + description='Whether run a SLAM') + + declare_map_yaml_cmd = DeclareLaunchArgument( + 'map', + default_value= os.path.join(bringup_dir,'map', 'RMUL.yaml'), + description='Full path to map yaml file to load') + + declare_use_sim_time_cmd = DeclareLaunchArgument( + 'use_sim_time', + default_value='True', + description='Use simulation (Gazebo) clock if true') + + declare_params_file_cmd = DeclareLaunchArgument( + 'params_file', + default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'), + description='Full path to the ROS2 parameters file to use for all launched nodes') + + + declare_autostart_cmd = DeclareLaunchArgument( + 'autostart', default_value='True', + description='Automatically startup the nav2 stack') + + declare_use_composition_cmd = DeclareLaunchArgument( + 'use_composition', default_value='True', + description='Whether to use composed bringup') + + declare_use_respawn_cmd = DeclareLaunchArgument( + 'use_respawn', default_value='True', + description='Whether to respawn if a node crashes. Applied when composition is disabled.') + + declare_log_level_cmd = DeclareLaunchArgument( + 'log_level', default_value='info', + description='log level') + + declare_nav_rviz_cmd = DeclareLaunchArgument( + 'nav_rviz', + default_value='True', + description='Visualize navigation2 if true') + + # Specify the actions + bringup_cmd_group = GroupAction([ + PushRosNamespace( + condition=IfCondition(use_namespace), + namespace=namespace), + + Node( + condition=IfCondition(use_composition), + name='nav2_container', + package='rclcpp_components', + executable='component_container_mt', + parameters=[configured_params, {'autostart': autostart}], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings, + output='screen'), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(launch_dir, 'navigation_launch.py')), + launch_arguments={'namespace': namespace, + 'use_sim_time': use_sim_time, + 'autostart': autostart, + 'params_file': params_file, + 'use_composition': use_composition, + 'use_respawn': use_respawn, + 'container_name': 'nav2_container'}.items()), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(launch_dir, 'rviz_launch.py')), + condition=IfCondition(use_nav_rviz) + ), + ]) + + # Create the launch description and populate + ld = LaunchDescription() + + # Set environment variables + ld.add_action(stdout_linebuf_envvar) + + # Declare the launch options + ld.add_action(declare_namespace_cmd) + ld.add_action(declare_use_namespace_cmd) + ld.add_action(declare_use_slam_cmd) + ld.add_action(declare_map_yaml_cmd) + ld.add_action(declare_use_sim_time_cmd) + ld.add_action(declare_params_file_cmd) + ld.add_action(declare_autostart_cmd) + ld.add_action(declare_use_composition_cmd) + ld.add_action(declare_use_respawn_cmd) + ld.add_action(declare_log_level_cmd) + ld.add_action(declare_nav_rviz_cmd) + + # Add the actions to launch all of the navigation nodes + ld.add_action(bringup_cmd_group) + + return ld diff --git a/src/rm_nav/rm_navigation/rm_navigation/launch/localization_amcl_launch.py b/src/rm_nav/rm_navigation/rm_navigation/launch/localization_amcl_launch.py new file mode 100644 index 0000000..598084f --- /dev/null +++ b/src/rm_nav/rm_navigation/rm_navigation/launch/localization_amcl_launch.py @@ -0,0 +1,149 @@ +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, GroupAction, IncludeLaunchDescription, SetEnvironmentVariable +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration, PythonExpression +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch_ros.actions import LoadComposableNodes, Node +from launch_ros.descriptions import ComposableNode, ParameterFile +from nav2_common.launch import RewrittenYaml + + +def generate_launch_description(): + # Get the launch directory + bringup_dir = get_package_share_directory('nav2_bringup') + + namespace = LaunchConfiguration('namespace') + use_sim_time = LaunchConfiguration('use_sim_time') + autostart = LaunchConfiguration('autostart') + params_file = LaunchConfiguration('params_file') + use_composition = LaunchConfiguration('use_composition') + container_name = LaunchConfiguration('container_name') + container_name_full = (namespace, '/', container_name) + use_respawn = LaunchConfiguration('use_respawn') + log_level = LaunchConfiguration('log_level') + + lifecycle_nodes = ['amcl'] + + remappings = [('/tf', 'tf'), + ('/tf_static', 'tf_static')] + + # Create our own temporary YAML files that include substitutions + param_substitutions = { + 'use_sim_time': use_sim_time} + + configured_params = ParameterFile( + RewrittenYaml( + source_file=params_file, + root_key=namespace, + param_rewrites=param_substitutions, + convert_types=True), + allow_substs=True) + + stdout_linebuf_envvar = SetEnvironmentVariable( + 'RCUTILS_LOGGING_BUFFERED_STREAM', '1') + + declare_namespace_cmd = DeclareLaunchArgument( + 'namespace', + default_value='', + description='Top-level namespace') + + declare_use_sim_time_cmd = DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Use simulation (Gazebo) clock if true') + + declare_params_file_cmd = DeclareLaunchArgument( + 'params_file', + default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'), + description='Full path to the ROS2 parameters file to use for all launched nodes') + + declare_autostart_cmd = DeclareLaunchArgument( + 'autostart', default_value='true', + description='Automatically startup the nav2 stack') + + declare_use_composition_cmd = DeclareLaunchArgument( + 'use_composition', default_value='False', + description='Use composed bringup if True') + + declare_container_name_cmd = DeclareLaunchArgument( + 'container_name', default_value='nav2_container', + description='the name of conatiner that nodes will load in if use composition') + + declare_use_respawn_cmd = DeclareLaunchArgument( + 'use_respawn', default_value='False', + description='Whether to respawn if a node crashes. Applied when composition is disabled.') + + declare_log_level_cmd = DeclareLaunchArgument( + 'log_level', default_value='info', + description='log level') + + load_nodes = GroupAction( + condition=IfCondition(PythonExpression(['not ', use_composition])), + actions=[ + Node( + package='nav2_amcl', + executable='amcl', + name='amcl', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings), + Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_localization', + output='screen', + arguments=['--ros-args', '--log-level', log_level], + parameters=[{'use_sim_time': use_sim_time}, + {'autostart': autostart}, + {'node_names': lifecycle_nodes}]) + ] + ) + + load_composable_nodes = LoadComposableNodes( + condition=IfCondition(use_composition), + target_container=container_name_full, + composable_node_descriptions=[ + ComposableNode( + package='nav2_amcl', + plugin='nav2_amcl::AmclNode', + name='amcl', + parameters=[configured_params], + remappings=remappings), + ComposableNode( + package='nav2_lifecycle_manager', + plugin='nav2_lifecycle_manager::LifecycleManager', + name='lifecycle_manager_localization', + parameters=[{'use_sim_time': use_sim_time, + 'autostart': autostart, + 'node_names': lifecycle_nodes}]), + ], + ) + + # Create the launch description and populate + ld = LaunchDescription() + + # Set environment variables + ld.add_action(stdout_linebuf_envvar) + + # Declare the launch options + ld.add_action(declare_namespace_cmd) + ld.add_action(declare_use_sim_time_cmd) + ld.add_action(declare_params_file_cmd) + ld.add_action(declare_autostart_cmd) + ld.add_action(declare_use_composition_cmd) + ld.add_action(declare_container_name_cmd) + ld.add_action(declare_use_respawn_cmd) + ld.add_action(declare_log_level_cmd) + + # Add the actions to launch all of the localiztion nodes + ld.add_action(load_nodes) + ld.add_action(load_composable_nodes) + + return ld \ No newline at end of file diff --git a/src/rm_nav/rm_navigation/rm_navigation/launch/map_server_launch.py b/src/rm_nav/rm_navigation/rm_navigation/launch/map_server_launch.py new file mode 100644 index 0000000..ecc31b5 --- /dev/null +++ b/src/rm_nav/rm_navigation/rm_navigation/launch/map_server_launch.py @@ -0,0 +1,158 @@ +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration, PythonExpression +from launch_ros.actions import LoadComposableNodes +from launch_ros.actions import Node +from launch_ros.descriptions import ComposableNode, ParameterFile +from nav2_common.launch import RewrittenYaml + + +def generate_launch_description(): + # Get the launch directory + bringup_dir = get_package_share_directory('nav2_bringup') + + namespace = LaunchConfiguration('namespace') + map_yaml_file = LaunchConfiguration('map') + use_sim_time = LaunchConfiguration('use_sim_time') + autostart = LaunchConfiguration('autostart') + params_file = LaunchConfiguration('params_file') + use_composition = LaunchConfiguration('use_composition') + container_name = LaunchConfiguration('container_name') + container_name_full = (namespace, '/', container_name) + use_respawn = LaunchConfiguration('use_respawn') + log_level = LaunchConfiguration('log_level') + + lifecycle_nodes = ['map_server'] + + remappings = [('/tf', 'tf'), + ('/tf_static', 'tf_static')] + + # Create our own temporary YAML files that include substitutions + param_substitutions = { + 'use_sim_time': use_sim_time, + 'yaml_filename': map_yaml_file} + + configured_params = ParameterFile( + RewrittenYaml( + source_file=params_file, + root_key=namespace, + param_rewrites=param_substitutions, + convert_types=True), + allow_substs=True) + + stdout_linebuf_envvar = SetEnvironmentVariable( + 'RCUTILS_LOGGING_BUFFERED_STREAM', '1') + + declare_namespace_cmd = DeclareLaunchArgument( + 'namespace', + default_value='', + description='Top-level namespace') + + declare_map_yaml_cmd = DeclareLaunchArgument( + 'map', + description='Full path to map yaml file to load') + + declare_use_sim_time_cmd = DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Use simulation (Gazebo) clock if true') + + declare_params_file_cmd = DeclareLaunchArgument( + 'params_file', + default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'), + description='Full path to the ROS2 parameters file to use for all launched nodes') + + declare_autostart_cmd = DeclareLaunchArgument( + 'autostart', default_value='true', + description='Automatically startup the nav2 stack') + + declare_use_composition_cmd = DeclareLaunchArgument( + 'use_composition', default_value='False', + description='Use composed bringup if True') + + declare_container_name_cmd = DeclareLaunchArgument( + 'container_name', default_value='nav2_container', + description='the name of conatiner that nodes will load in if use composition') + + declare_use_respawn_cmd = DeclareLaunchArgument( + 'use_respawn', default_value='False', + description='Whether to respawn if a node crashes. Applied when composition is disabled.') + + declare_log_level_cmd = DeclareLaunchArgument( + 'log_level', default_value='info', + description='log level') + + load_nodes = GroupAction( + condition=IfCondition(PythonExpression(['not ', use_composition])), + actions=[ + Node( + package='nav2_map_server', + executable='map_server', + name='map_server', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings), + + Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_localization', + output='screen', + arguments=['--ros-args', '--log-level', log_level], + parameters=[{'use_sim_time': use_sim_time}, + {'autostart': autostart}, + {'node_names': lifecycle_nodes}]) + ] + ) + + load_composable_nodes = LoadComposableNodes( + condition=IfCondition(use_composition), + target_container=container_name_full, + composable_node_descriptions=[ + ComposableNode( + package='nav2_map_server', + plugin='nav2_map_server::MapServer', + name='map_server', + parameters=[configured_params], + remappings=remappings), + + ComposableNode( + package='nav2_lifecycle_manager', + plugin='nav2_lifecycle_manager::LifecycleManager', + name='lifecycle_manager_localization', + parameters=[{'use_sim_time': use_sim_time, + 'autostart': autostart, + 'node_names': lifecycle_nodes}]), + ], + ) + + # Create the launch description and populate + ld = LaunchDescription() + + # Set environment variables + ld.add_action(stdout_linebuf_envvar) + + # Declare the launch options + ld.add_action(declare_namespace_cmd) + ld.add_action(declare_map_yaml_cmd) + ld.add_action(declare_use_sim_time_cmd) + ld.add_action(declare_params_file_cmd) + ld.add_action(declare_autostart_cmd) + ld.add_action(declare_use_composition_cmd) + ld.add_action(declare_container_name_cmd) + ld.add_action(declare_use_respawn_cmd) + ld.add_action(declare_log_level_cmd) + + # Add the actions to launch all of the localiztion nodes + ld.add_action(load_nodes) + ld.add_action(load_composable_nodes) + + return ld \ No newline at end of file diff --git a/src/rm_nav/rm_navigation/rm_navigation/launch/navigation_launch.py b/src/rm_nav/rm_navigation/rm_navigation/launch/navigation_launch.py new file mode 100644 index 0000000..1dadff1 --- /dev/null +++ b/src/rm_nav/rm_navigation/rm_navigation/launch/navigation_launch.py @@ -0,0 +1,270 @@ +# Copyright (c) 2018 Intel Corporation +# +# 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. + +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration, PythonExpression +from launch_ros.actions import LoadComposableNodes +from launch_ros.actions import Node +from launch_ros.descriptions import ComposableNode +from nav2_common.launch import RewrittenYaml + + +def generate_launch_description(): + # Get the launch directory + bringup_dir = get_package_share_directory('rm_navigation') + + namespace = LaunchConfiguration('namespace') + use_sim_time = LaunchConfiguration('use_sim_time') + autostart = LaunchConfiguration('autostart') + params_file = LaunchConfiguration('params_file') + use_composition = LaunchConfiguration('use_composition') + container_name = LaunchConfiguration('container_name') + container_name_full = (namespace, '/', container_name) + use_respawn = LaunchConfiguration('use_respawn') + log_level = LaunchConfiguration('log_level') + + lifecycle_nodes = ['controller_server', + 'smoother_server', + 'planner_server', + 'behavior_server', + 'bt_navigator', + 'waypoint_follower', + 'velocity_smoother'] + + # Map fully qualified names to relative ones so the node's namespace can be prepended. + # In case of the transforms (tf), currently, there doesn't seem to be a better alternative + # https://github.com/ros/geometry2/issues/32 + # https://github.com/ros/robot_state_publisher/pull/30 + # TODO(orduno) Substitute with `PushNodeRemapping` + # https://github.com/ros2/launch_ros/issues/56 + remappings = [('/tf', 'tf'), + ('/tf_static', 'tf_static')] + + # Create our own temporary YAML files that include substitutions + param_substitutions = { + 'use_sim_time': use_sim_time, + 'autostart': autostart} + + configured_params = RewrittenYaml( + source_file=params_file, + root_key=namespace, + param_rewrites=param_substitutions, + convert_types=True) + + stdout_linebuf_envvar = SetEnvironmentVariable( + 'RCUTILS_LOGGING_BUFFERED_STREAM', '1') + + declare_namespace_cmd = DeclareLaunchArgument( + 'namespace', + default_value='', + description='Top-level namespace') + + declare_use_sim_time_cmd = DeclareLaunchArgument( + 'use_sim_time', + default_value='true', + description='Use simulation (Gazebo) clock if true') + + declare_params_file_cmd = DeclareLaunchArgument( + 'params_file', + default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'), + description='Full path to the ROS2 parameters file to use for all launched nodes') + + declare_autostart_cmd = DeclareLaunchArgument( + 'autostart', default_value='true', + description='Automatically startup the nav2 stack') + + declare_use_composition_cmd = DeclareLaunchArgument( + 'use_composition', default_value='False', + description='Use composed bringup if True') + + declare_container_name_cmd = DeclareLaunchArgument( + 'container_name', default_value='nav2_container', + description='the name of conatiner that nodes will load in if use composition') + + declare_use_respawn_cmd = DeclareLaunchArgument( + 'use_respawn', default_value='False', + description='Whether to respawn if a node crashes. Applied when composition is disabled.') + + declare_log_level_cmd = DeclareLaunchArgument( + 'log_level', default_value='info', + description='log level') + + load_nodes = GroupAction( + condition=IfCondition(PythonExpression(['not ', use_composition])), + actions=[ + Node( + package='nav2_controller', + executable='controller_server', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]), + Node( + package='nav2_smoother', + executable='smoother_server', + name='smoother_server', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings), + Node( + package='nav2_planner', + executable='planner_server', + name='planner_server', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings), + Node( + package='nav2_behaviors', + executable='behavior_server', + name='behavior_server', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings), + Node( + package='nav2_bt_navigator', + executable='bt_navigator', + name='bt_navigator', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings), + Node( + package='nav2_waypoint_follower', + executable='waypoint_follower', + name='waypoint_follower', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings), + Node( + package='nav2_velocity_smoother', + executable='velocity_smoother', + name='velocity_smoother', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings + + [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]), + Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_navigation', + output='screen', + arguments=['--ros-args', '--log-level', log_level], + parameters=[{'use_sim_time': use_sim_time}, + {'autostart': autostart}, + {'node_names': lifecycle_nodes}]), + ] + ) + + load_composable_nodes = LoadComposableNodes( + condition=IfCondition(use_composition), + target_container=container_name_full, + composable_node_descriptions=[ + ComposableNode( + package='nav2_controller', + plugin='nav2_controller::ControllerServer', + name='controller_server', + parameters=[configured_params], + remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]), + ComposableNode( + package='nav2_smoother', + plugin='nav2_smoother::SmootherServer', + name='smoother_server', + parameters=[configured_params], + remappings=remappings), + ComposableNode( + package='nav2_planner', + plugin='nav2_planner::PlannerServer', + name='planner_server', + parameters=[configured_params], + remappings=remappings), + ComposableNode( + package='nav2_behaviors', + plugin='behavior_server::BehaviorServer', + name='behavior_server', + parameters=[configured_params], + remappings=remappings), + ComposableNode( + package='nav2_bt_navigator', + plugin='nav2_bt_navigator::BtNavigator', + name='bt_navigator', + parameters=[configured_params], + remappings=remappings), + ComposableNode( + package='nav2_waypoint_follower', + plugin='nav2_waypoint_follower::WaypointFollower', + name='waypoint_follower', + parameters=[configured_params], + remappings=remappings), + ComposableNode( + package='nav2_velocity_smoother', + plugin='nav2_velocity_smoother::VelocitySmoother', + name='velocity_smoother', + parameters=[configured_params], + remappings=remappings + + [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]), + ComposableNode( + package='nav2_lifecycle_manager', + plugin='nav2_lifecycle_manager::LifecycleManager', + name='lifecycle_manager_navigation', + parameters=[{'use_sim_time': use_sim_time, + 'autostart': autostart, + 'node_names': lifecycle_nodes}]), + ], + ) + + # Create the launch description and populate + ld = LaunchDescription() + + # Set environment variables + ld.add_action(stdout_linebuf_envvar) + + # Declare the launch options + ld.add_action(declare_namespace_cmd) + ld.add_action(declare_use_sim_time_cmd) + ld.add_action(declare_params_file_cmd) + ld.add_action(declare_autostart_cmd) + ld.add_action(declare_use_composition_cmd) + ld.add_action(declare_container_name_cmd) + ld.add_action(declare_use_respawn_cmd) + ld.add_action(declare_log_level_cmd) + # Add the actions to launch all of the navigation nodes + ld.add_action(load_nodes) + ld.add_action(load_composable_nodes) + + return ld diff --git a/src/rm_nav/rm_navigation/rm_navigation/launch/rviz_launch.py b/src/rm_nav/rm_navigation/rm_navigation/launch/rviz_launch.py new file mode 100644 index 0000000..d786039 --- /dev/null +++ b/src/rm_nav/rm_navigation/rm_navigation/launch/rviz_launch.py @@ -0,0 +1,109 @@ +# Copyright (c) 2018 Intel Corporation +# +# 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. + +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, EmitEvent, RegisterEventHandler +from launch.conditions import IfCondition, UnlessCondition +from launch.event_handlers import OnProcessExit +from launch.events import Shutdown +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from nav2_common.launch import ReplaceString + + +def generate_launch_description(): + # Get the launch directory + bringup_dir = get_package_share_directory('rm_navigation') + + # Create the launch configuration variables + namespace = LaunchConfiguration('namespace') + use_namespace = LaunchConfiguration('use_namespace') + rviz_config_file = LaunchConfiguration('rviz_config') + + # Declare the launch arguments + declare_namespace_cmd = DeclareLaunchArgument( + 'namespace', + default_value='navigation', + description=('Top-level namespace. The value will be used to replace the ' + ' keyword on the rviz config file.')) + + declare_use_namespace_cmd = DeclareLaunchArgument( + 'use_namespace', + default_value='false', + description='Whether to apply a namespace to the navigation stack') + + declare_rviz_config_file_cmd = DeclareLaunchArgument( + 'rviz_config', + default_value=os.path.join(bringup_dir, 'rviz', 'nav2.rviz'), + description='Full path to the RVIZ config file to use') + + # Launch rviz + start_rviz_cmd = Node( + condition=UnlessCondition(use_namespace), + package='rviz2', + executable='rviz2', + arguments=['-d', rviz_config_file], + output='screen') + + namespaced_rviz_config_file = ReplaceString( + source_file=rviz_config_file, + replacements={'': ('/', namespace)}) + + start_namespaced_rviz_cmd = Node( + condition=IfCondition(use_namespace), + package='rviz2', + executable='rviz2', + namespace=namespace, + arguments=['-d', namespaced_rviz_config_file], + output='screen', + remappings=[('/map', 'map'), + ('/tf', 'tf'), + ('/tf_static', 'tf_static'), + ('/goal_pose', 'goal_pose'), + ('/clicked_point', 'clicked_point'), + ('/initialpose', 'initialpose')]) + + exit_event_handler = RegisterEventHandler( + condition=UnlessCondition(use_namespace), + event_handler=OnProcessExit( + target_action=start_rviz_cmd, + on_exit=EmitEvent(event=Shutdown(reason='rviz exited')))) + + exit_event_handler_namespaced = RegisterEventHandler( + condition=IfCondition(use_namespace), + event_handler=OnProcessExit( + target_action=start_namespaced_rviz_cmd, + on_exit=EmitEvent(event=Shutdown(reason='rviz exited')))) + + # Create the launch description and populate + ld = LaunchDescription() + + # Declare the launch options + ld.add_action(declare_namespace_cmd) + ld.add_action(declare_use_namespace_cmd) + ld.add_action(declare_rviz_config_file_cmd) + + # Add any conditioned actions + ld.add_action(start_rviz_cmd) + ld.add_action(start_namespaced_rviz_cmd) + + # Add other nodes and processes we need + ld.add_action(exit_event_handler) + ld.add_action(exit_event_handler_namespaced) + + return ld diff --git a/src/rm_nav/rm_navigation/rm_navigation/package.xml b/src/rm_nav/rm_navigation/rm_navigation/package.xml new file mode 100644 index 0000000..8030112 --- /dev/null +++ b/src/rm_nav/rm_navigation/rm_navigation/package.xml @@ -0,0 +1,20 @@ + + + + rm_navigation + 0.0.0 + TODO: Package description + fyt + TODO: License declaration + + ament_cmake + + spatio_temporal_voxel_layer + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/rm_nav/rm_navigation/rm_navigation/params/mapper_params_online_async.yaml b/src/rm_nav/rm_navigation/rm_navigation/params/mapper_params_online_async.yaml new file mode 100644 index 0000000..f1677b6 --- /dev/null +++ b/src/rm_nav/rm_navigation/rm_navigation/params/mapper_params_online_async.yaml @@ -0,0 +1,73 @@ +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: livox_frame + scan_topic: /scan + mode: mapping #localization + + # if you'd like to immediately start continuing a map at a given pose + # or at the dock, but they are mutually exclusive, if pose is given + # will use pose + #map_file_name: test_steve + # map_start_pose: [0.0, 0.0, 0.0] + #map_start_at_dock: true + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 30. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true \ No newline at end of file diff --git a/src/rm_nav/rm_navigation/rm_navigation/params/nav2_params.yaml b/src/rm_nav/rm_navigation/rm_navigation/params/nav2_params.yaml new file mode 100644 index 0000000..0d13565 --- /dev/null +++ b/src/rm_nav/rm_navigation/rm_navigation/params/nav2_params.yaml @@ -0,0 +1,371 @@ +amcl: + ros__parameters: + use_sim_time: False + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 + base_frame_id: "base_link" + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: false + global_frame_id: "map" + lambda_short: 0.1 + laser_likelihood_max_dist: 2.0 + laser_max_range: 100.0 + laser_min_range: -1.0 + laser_model_type: "likelihood_field" + max_beams: 60 + max_particles: 2000 + min_particles: 500 + odom_frame_id: "odom" + pf_err: 0.05 + pf_z: 0.99 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 1 + robot_model_type: "nav2_amcl::OmniMotionModel" + save_pose_rate: 0.5 + sigma_hit: 0.2 + tf_broadcast: true + transform_tolerance: 1.0 + update_min_a: 0.2 + update_min_d: 0.25 + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 + scan_topic: scan + +amcl_map_client: + ros__parameters: + use_sim_time: False + +amcl_rclcpp_node: + ros__parameters: + use_sim_time: False + +bt_navigator: + ros__parameters: + use_sim_time: False + global_frame: map + robot_base_frame: base_link + odom_topic: /Odometry + bt_loop_duration: 10 + default_server_timeout: 20 + enable_groot_monitoring: True + groot_zmq_publisher_port: 1666 + groot_zmq_server_port: 1667 + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_back_up_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + +bt_navigator_rclcpp_node: + ros__parameters: + use_sim_time: False + +controller_server: + ros__parameters: + use_sim_time: False + controller_frequency: 5.0 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.5 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugin: "progress_checker" + goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" + controller_plugins: ["FollowPath"] + + # Progress checker parameters + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + + # Goal checker parameters + general_goal_checker: + stateful: True + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + # DWB parameters + FollowPath: + plugin: "dwb_core::DWBLocalPlanner" + debug_trajectory_details: False + min_vel_x: -2.5 + min_vel_y: -2.5 + max_vel_x: 2.5 + max_vel_y: 2.5 + max_vel_theta: 12.0 + min_speed_xy: -8.0 + max_speed_xy: 8.0 + min_speed_theta: -12.0 + acc_lim_x: 5.0 + acc_lim_y: 5.0 + acc_lim_theta: 15.0 + decel_lim_x: -5.0 + decel_lim_y: -5.0 + decel_lim_theta: -15.0 + vx_samples: 20 + vy_samples: 20 + vtheta_samples: 20 + sim_time: 0.51 + linear_granularity: 0.05 + angular_granularity: 0.025 + transform_tolerance: 0.2 + xy_goal_tolerance: 0.25 + trans_stopped_velocity: 0.25 + short_circuit_trajectory_evaluation: True + stateful: True + critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] + BaseObstacle.scale: 0.02 + PathAlign.scale: 32.0 + PathAlign.forward_point_distance: 0.1 + GoalAlign.scale: 24.0 + GoalAlign.forward_point_distance: 0.1 + PathDist.scale: 32.0 + GoalDist.scale: 24.0 + RotateToGoal.scale: 32.0 + RotateToGoal.slowing_factor: 5.0 + RotateToGoal.lookahead_time: -1.0 + +controller_server_rclcpp_node: + ros__parameters: + use_sim_time: False + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 20.0 + publish_frequency: 10.0 + # global_frame: odom + global_frame: map + robot_base_frame: base_link + use_sim_time: False + rolling_window: true + width: 5 + height: 5 + resolution: 0.05 + robot_radius: 0.2 + plugins: ["voxel2d_layer", "voxel3d_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 8.0 + inflation_radius: 0.7 + voxel2d_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: False + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + raytrace_min_range: 0.0 + raytrace_max_range: 50.0 + min_obstacle_height: 0.0 + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + voxel3d_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: False + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + mark_threshold: 1 + observation_sources: livox + min_obstacle_height: 0.00 + max_obstacle_height: 2.0 + livox: + topic: /livox/lidar/pointcloud + raytrace_min_range: 0.0 + raytrace_max_range: 50.0 + min_obstacle_height: 0.0 + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "PointCloud2" + static_layer: + map_subscribe_transient_local: True + always_send_full_costmap: True + local_costmap_client: + ros__parameters: + use_sim_time: False + local_costmap_rclcpp_node: + ros__parameters: + use_sim_time: False + +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 20.0 + publish_frequency: 10.0 + global_frame: map + robot_base_frame: base_link + use_sim_time: False + robot_radius: 0.2 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "voxel2d_layer", "voxel3d_layer", "inflation_layer"] + voxel2d_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + raytrace_min_range: 0.0 + raytrace_max_range: 50.0 + min_obstacle_height: 0.0 + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + voxel3d_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: False + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + mark_threshold: 1 + observation_sources: livox + min_obstacle_height: 0.00 + max_obstacle_height: 2.0 + livox: + topic: /livox/lidar/pointcloud + raytrace_min_range: 0.0 + raytrace_max_range: 50.0 + min_obstacle_height: 0.0 + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "PointCloud2" + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 8.0 + inflation_radius: 0.7 + always_send_full_costmap: True + global_costmap_client: + ros__parameters: + use_sim_time: False + global_costmap_rclcpp_node: + ros__parameters: + use_sim_time: False + +map_server: + ros__parameters: + use_sim_time: False + yaml_filename: "" + +map_saver: + ros__parameters: + use_sim_time: False + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + expected_planner_frequency: 20.0 + use_sim_time: False + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_navfn_planner/NavfnPlanner" + tolerance: 0.5 + use_astar: false + allow_unknown: true + +# planner_server_rclcpp_node: +# ros__parameters: +# use_sim_time: False + +recoveries_server: + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 10.0 + recovery_plugins: ["spin", "backup", "wait"] + spin: + plugin: "nav2_recoveries/Spin" + backup: + plugin: "nav2_recoveries/BackUp" + wait: + plugin: "nav2_recoveries/Wait" + global_frame: odom + robot_base_frame: base_link + transform_timeout: 0.1 + use_sim_time: False + simulate_ahead_time: 2.0 + max_rotational_vel: 20.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 10.0 + +robot_state_publisher: + ros__parameters: + use_sim_time: False + +waypoint_follower: + ros__parameters: + loop_rate: 20 + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 + +velocity_smoother: + ros__parameters: + use_sim_time: True + smoothing_frequency: 5.0 + scale_velocities: False + feedback: "CLOSED_LOOP" + max_velocity: [2.5, 2.5, 12.0] + min_velocity: [-2.5, -2.5, -12.0] + max_accel: [5.0, 5.0, 15.0] + max_decel: [-5.0, -5.0, -15.0] + odom_topic: "Odometry" + odom_duration: 0.1 + deadband_velocity: [0.0, 0.0, 0.0] + velocity_timeout: 1.0 \ No newline at end of file diff --git a/src/rm_nav/rm_navigation/rm_navigation/rviz/nav2.rviz b/src/rm_nav/rm_navigation/rm_navigation/rviz/nav2.rviz new file mode 100644 index 0000000..1925af2 --- /dev/null +++ b/src/rm_nav/rm_navigation/rm_navigation/rviz/nav2.rviz @@ -0,0 +1,665 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Tree1 + Splitter Ratio: 0.5833333134651184 + Tree Height: 462 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: nav2_rviz_plugins/Navigation 2 + Name: Navigation 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + dummy: + Alpha: 1 + Show Axes: false + Show Trail: false + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + livox_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + wheel_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + base_link: + Value: true + base_link_fake: + Value: true + dummy: + Value: true + imu_link: + Value: true + lidar_odom: + Value: true + livox_frame: + Value: true + map: + Value: true + odom: + Value: true + wheel_1: + Value: true + wheel_2: + Value: true + wheel_3: + Value: true + wheel_4: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + map: + odom: + lidar_odom: + base_link: + base_link_fake: + {} + imu_link: + {} + livox_frame: + {} + wheel_1: + {} + wheel_2: + {} + wheel_3: + {} + wheel_4: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: voxel_grid + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Boxes + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/voxel_grid + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Bumper Hit + Position Transformer: "" + Selectable: true + Size (Pixels): 3 + Size (m): 0.07999999821186066 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /mobile_base/sensors/bumper_pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.6000000238418579 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Class: nav2_rviz_plugins/ParticleCloud + Color: 0; 180; 0 + Enabled: true + Max Arrow Length: 0.30000001192092896 + Min Arrow Length: 0.019999999552965164 + Name: Amcl Particle Swarm + Shape: Arrow (Flat) + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /particle_cloud + Value: true + - Class: rviz_common/Group + Displays: + - Alpha: 0.30000001192092896 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Global Costmap + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap_updates + Use Timestamp: false + Value: true + - Alpha: 0.30000001192092896 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Downsampled Costmap + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /downsampled_costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /downsampled_costmap_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 255; 0; 0 + Enabled: true + Head Diameter: 0.019999999552965164 + Head Length: 0.019999999552965164 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: Arrows + Radius: 0.029999999329447746 + Shaft Diameter: 0.004999999888241291 + Shaft Length: 0.019999999552965164 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /plan + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 125; 125; 125 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: VoxelGrid + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Boxes + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/voxel_marked_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: Polygon + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/published_footprint + Value: false + Enabled: true + Name: Global Planner + - Class: rviz_common/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Local Costmap + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/costmap_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 0; 12; 255 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Local Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_plan + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Trajectories + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /marker + Value: false + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Polygon + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/published_footprint + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: VoxelGrid + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/voxel_marked_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Name: Controller + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MarkerArray + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /waypoints + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: PoseArray + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /teb_poses + Value: true + - Class: rviz_default_plugins/Marker + Enabled: true + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /teb_markers + Value: true + - Class: rviz_default_plugins/Axes + Enabled: true + Length: 0.5 + Name: base_link_fake + Radius: 0.07999999821186066 + Reference Frame: base_link_fake + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + - Class: nav2_rviz_plugins/GoalTool + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 14.485743522644043 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 3.056168556213379 + Y: 0.4070683419704437 + Z: 0.4124468266963959 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.5697963237762451 + Target Frame: + Value: Orbit (rviz_default_plugins) + Yaw: 3.1423678398132324 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 932 + Hide Left Dock: false + Hide Right Dock: false + Navigation 2: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1545 + X: 1585 + Y: 228 diff --git a/src/rm_nav/rm_navigation/teb_local_planner/.gitignore b/src/rm_nav/rm_navigation/teb_local_planner/.gitignore new file mode 100644 index 0000000..9ee021e --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/.gitignore @@ -0,0 +1,3 @@ +.svn +.kdev4 +*.kdev4 diff --git a/src/rm_nav/rm_navigation/teb_local_planner/.gitlab-ci.yml b/src/rm_nav/rm_navigation/teb_local_planner/.gitlab-ci.yml new file mode 100644 index 0000000..5938186 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/.gitlab-ci.yml @@ -0,0 +1,23 @@ +build-kinetic: + variables: + ROSDISTRO: "kinetic" + CATKIN_WS: "/root/catkin_ws" + stage: build + image: osrf/ros:$ROSDISTRO-desktop-full + before_script: + - apt-get -qq update + - apt-get -qq install git-core python-catkin-tools curl + - mkdir -p $CATKIN_WS/src + - cp -a . $CATKIN_WS/src/ + - cd $CATKIN_WS + - rosdep update + - rosdep install -y --from-paths src --ignore-src --rosdistro $ROSDISTRO --as-root=apt:false + script: + - source /ros_entrypoint.sh + - cd $CATKIN_WS + - catkin build -i -s --no-status + only: + - kinetic-devel + tags: + - ubuntu + - docker \ No newline at end of file diff --git a/src/rm_nav/rm_navigation/teb_local_planner/.travis.yml b/src/rm_nav/rm_navigation/teb_local_planner/.travis.yml new file mode 100644 index 0000000..42b824c --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/.travis.yml @@ -0,0 +1,108 @@ +# Generic .travis.yml file for running continuous integration on Travis-CI with +# any ROS package. +# +# This installs ROS on a clean Travis-CI virtual machine, creates a ROS +# workspace, resolves all listed dependencies, and sets environment variables +# (setup.bash). Then, it compiles the entire ROS workspace (ensuring there are +# no compilation errors), and runs all the tests. If any of the compilation/test +# phases fail, the build is marked as a failure. +# +# We handle two types of package dependencies: +# - packages (ros and otherwise) available through apt-get. These are installed +# using rosdep, based on the information in the ROS package.xml. +# - dependencies that must be checked out from source. These are handled by +# 'wstool', and should be listed in a file named dependencies.rosinstall. +# +# There are two variables you may want to change: +# - ROS_DISTRO (default is indigo). Note that packages must be available for +# ubuntu 14.04 trusty. +# - ROSINSTALL_FILE (default is dependencies.rosinstall inside the repo +# root). This should list all necessary repositories in wstool format (see +# the ros wiki). If the file does not exists then nothing happens. +# +# See the README.md for more information. +# +# Author: Felix Duvallet + +# NOTE: The build lifecycle on Travis.ci is something like this: +# before_install +# install +# before_script +# script +# after_success or after_failure +# after_script +# OPTIONAL before_deploy +# OPTIONAL deploy +# OPTIONAL after_deploy + +################################################################################ + +# Use ubuntu trusty (14.04) with sudo privileges. +dist: trusty +sudo: required +language: + - generic +cache: + - apt + +# Configuration variables. All variables are global now, but this can be used to +# trigger a build matrix for different ROS distributions if desired. +env: + global: + - ROS_CI_DESKTOP="`lsb_release -cs`" # e.g. [precise|trusty|...] + - CI_SOURCE_PATH=$(pwd) + - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall + - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options + - ROS_PARALLEL_JOBS='-j8 -l6' + matrix: + - ROS_DISTRO=jade + + +################################################################################ + +# Install system dependencies, namely a very barebones ROS setup. +before_install: + - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" + - wget http://packages.ros.org/ros.key -O - | sudo apt-key add - + - sudo apt-get update -qq + - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin + - source /opt/ros/$ROS_DISTRO/setup.bash + # Prepare rosdep to install dependencies. + - sudo rosdep init + - rosdep update + +# Create a catkin workspace with the package under integration. +install: + - mkdir -p ~/catkin_ws/src + - cd ~/catkin_ws/src + - catkin_init_workspace + # Create the devel/setup.bash (run catkin_make with an empty workspace) and + # source it to set the path variables. + - cd ~/catkin_ws + - catkin_make + - source devel/setup.bash + # Add the package under integration to the workspace using a symlink. + - cd ~/catkin_ws/src + - ln -s $CI_SOURCE_PATH . + +# Install all dependencies, using wstool and rosdep. +# wstool looks for a ROSINSTALL_FILE defined in the environment variables. +before_script: + # source dependencies: install using wstool. + - cd ~/catkin_ws/src + - wstool init + - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi + - wstool up + # package depdencies: install using rosdep. + - cd ~/catkin_ws + - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO + +# Compile and test. If the CATKIN_OPTIONS file exists, use it as an argument to +# catkin_make. +script: + - cd ~/catkin_ws + - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS ) + # Testing: Use both run_tests (to see the output) and test (to error out). + - catkin_make run_tests # This always returns 0, but looks pretty. + - catkin_make test # This will return non-zero if a test fails. + diff --git a/src/rm_nav/rm_navigation/teb_local_planner/README.md b/src/rm_nav/rm_navigation/teb_local_planner/README.md new file mode 100644 index 0000000..5eb9dbd --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/README.md @@ -0,0 +1,61 @@ +teb_local_planner ROS Package +============================= + +The teb_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. +The underlying method called Timed Elastic Band locally optimizes the robot's trajectory with respect to trajectory execution time, +separation from obstacles and compliance with kinodynamic constraints at runtime. + +Refer to http://wiki.ros.org/teb_local_planner for more information and tutorials. + +Build status of the *melodic-devel* branch: +- ROS Buildfarm (Melodic): [![Melodic Status](http://build.ros.org/buildStatus/icon?job=Mdev__teb_local_planner__ubuntu_bionic_amd64)](http://build.ros.org/job/Mdev__teb_local_planner__ubuntu_bionic_amd64/) + +### Port to ROS2 +This branch is the teb_local_planner package ported to ROS2(Dashing Diademata). Currently, it is currently compatible with [Navigation2(master branch)](https://github.com/ros-planning/navigation2/tree/master)([226f06c](https://github.com/ros-planning/navigation2/commit/226f06ce282c727ca240ce8be0cb4b093e26343b)). You can test teb_local_planner with Navigation2 and TurtleBot3 simulation by launching the following command. +``` +ros2 launch teb_local_planner teb_tb3_simulation_launch.py +``` + +## Citing the Software + +*Since a lot of time and effort has gone into the development, please cite at least one of the following publications if you are using the planner for your own research:* + +- C. Rösmann, F. Hoffmann and T. Bertram: Integrated online trajectory planning and optimization in distinctive topologies, Robotics and Autonomous Systems, Vol. 88, 2017, pp. 142–153. +- C. Rösmann, W. Feiten, T. Wösch, F. Hoffmann and T. Bertram: Trajectory modification considering dynamic constraints of autonomous robots. Proc. 7th German Conference on Robotics, Germany, Munich, May 2012, pp 74–79. +- C. Rösmann, W. Feiten, T. Wösch, F. Hoffmann and T. Bertram: Efficient trajectory optimization using a sparse model. Proc. IEEE European Conference on Mobile Robots, Spain, Barcelona, Sept. 2013, pp. 138–143. +- C. Rösmann, F. Hoffmann and T. Bertram: Planning of Multiple Robot Trajectories in Distinctive Topologies, Proc. IEEE European Conference on Mobile Robots, UK, Lincoln, Sept. 2015. +- C. Rösmann, F. Hoffmann and T. Bertram: Kinodynamic Trajectory Optimization and Control for Car-Like Robots, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, Sept. 2017. + +Buy Me A Coffee + +## Videos + +The left of the following videos presents features of the package and shows examples from simulation and real robot situations. +Some spoken explanations are included in the audio track of the video. +The right one demonstrates features introduced in version 0.2 (supporting car-like robots and costmap conversion). Please watch the left one first. + + + + +## License + +The *teb_local_planner* package is licensed under the BSD license. +It depends on other ROS packages, which are listed in the package.xml. They are also BSD licensed. + +Some third-party dependencies are included that are licensed under different terms: + - *Eigen*, MPL2 license, http://eigen.tuxfamily.org + - *libg2o* / *g2o* itself is licensed under BSD, but the enabled *csparse_extension* is licensed under LGPL3+, + https://github.com/RainerKuemmerle/g2o. [*CSparse*](http://www.cise.ufl.edu/research/sparse/CSparse/) is included as part of the *SuiteSparse* collection, http://www.suitesparse.com. + - *Boost*, Boost Software License, http://www.boost.org + +All packages included are distributed in the hope that they will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the licenses for more details. + +## Requirements + +Install dependencies (listed in the *package.xml* and *CMakeLists.txt* file) using *rosdep*: + + rosdep install teb_local_planner + + diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/CHANGELOG.rst b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/CHANGELOG.rst new file mode 100644 index 0000000..11b4f73 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/CHANGELOG.rst @@ -0,0 +1,407 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package teb_local_planner +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.9.1 (2020-05-29) +------------------ +* Fixed RobotFootprintModel visualization bug (thanks to Anson Wang) +* Reserve the size of the relevant obstacles vector to avoid excessive memory allocations (thanks to João Monteiro) +* CMake: Removed system include to avoid compiling issues on some platforms +* Contributors: Anson Wang, Christoph Rösmann, João Carlos Espiúca Monteiro + +0.9.0 (2020-05-26) +------------------ +* Added pill resp. stadium-shaped obstacle +* Changed minimum CMake version to 3.1 +* Improved efficiency of 3d h-signature computation +* Changed default value for parameter penalty_epsilon to 0.05 +* Improved efficiency of findClosedTrajectoryPose() +* Removed obsolete method isHorizonReductionAppropriate() +* Contributors: Christoph Rösmann, XinyuKhan + +0.8.4 (2019-12-02) +------------------ +* Fixed TEB autoResize if last TimeDiff is small +* Add a rotational threshold for identifying a warm start goal +* Contributors: Rainer Kümmerle + +0.8.3 (2019-10-25) +------------------ +* Limiting the control look-ahead pose to the first that execeeds the expected look-ahead time (thanks to Marco Bassa) +* test_optim_node fix circular obstacles (thanks to dtaranta) +* Fix shadow variable warning (thanks to Victor Lopez) +* Use SYSTEM when including external dependencies headers (thanks to Victor Lopez) +* Robustify initTrajectoryToGoal if a plan is given (thanks to Rainer Kuemmerle) +* Adding the option to shift ahead the target pose used to extract the velocity command (thanks to Marco Bassa) +* Fixed segfault in optimal_planner.cpp when clearing graph with unallocated optimizer. + Fixes `#158 `_. +* On footprintCost, fail only if footprint is in collision, not outside the map or on unknown space (thanks to corot) +* Native MoveBaseFlex support added: Implements both nav_core::BaseLocalPlanner and mbf_costmap_core::CostmapController abstract interfaces (thanks to corot) +* added warning if parameter optimal_time is <= 0 +* Nonlinear obstacle cost from EdgeInflatedObstacle also added to EdgeObstacle. + See `#140 `_. +* Fixed proper initialization of parameter obstacle_cost_exponent in case it is not loaded from the parameter server +* Contributors: Christoph Rösmann, Marco Bassa, Rainer Kuemmerle, Victor Lopez, corot, dtaranta + +0.8.2 (2019-07-02) +------------------ +* Allow scripts to be executable and usable by rosrun after catkin_make install and through the catkin release process (thanks to Devon Ash) +* Add nonlinear part to obstacle cost to improve narrow gap behavior. + Parameter `obstacle_cost_exponent` defines the exponent of the nonlinear cost term. + The default linear behavior is achieved by setting this parameter to 1 (default). + A value of 4 performed well in some tests and experiments (thanks to Howard Cochran). +* Parameter `global_plan_prune_distance` added via ros parameter server. +* Fixed SIGSEGV in optimizeAllTEBs() if main thread is interrupted by boost (thanks to Howard Cochran) +* Fixed SIGSEGV crash in deleteTebDetours() (thanks to Howard Cochran) +* On footprint visualization, avoid overshadowing by obstacles (thanks to corot) +* Do not ignore robot model on the association stage. + Important mostly for polygon footprint model (thanks to corot). +* Adjustable color for footprint visualization +* Showing (detected) infeasible robot poses in a separate marker namespace and color +* Added edge for minimizing Euclidean path length (parameter: `weight_shortest_path`) +* Ackermann steering conversion (python script): fixed direction inversion in backwards mode when `cmd_angle_instead_rotvel` is true (thanks to Tobi Loew) +* Fixed wrong skipping condition in AddEdgesKinematicsCarlike() (thanks to ShiquLIU) +* Never discarding the previous best teb in renewAndAnalyzeOldTebs (thanks to Marco Bassa) +* Allowing for the fallback to a different trajectory when the costmap check fails. This prevents the switch to unfeasible trajectories (thanks to Marco Bassa). +* Skipping the generation of the homotopy exploration graph in case the maximum number of allowed classes is reached (thanks to Marco Bassa) +* Changed isTrajectoryFeasible function to allow for a more accurate linear and angular discretization (thanks to Marco Bassa) +* Function TebOptimalPlanner::computeError() considers now the actual optimizer weights. + As a result, the default value of `selection_obst_cost_scale` is reduced (thanks to Howard Cochran). +* update to use non deprecated pluginlib macro (thanks to Mikael Arguedas) +* Avoiding h signature interpolation between coincident poses (thanks to Marco Bassa) +* New strategy for the deletion of detours: Detours are now determined w.r.t. the least-cost alternative and not w.r.t. just the goal heading. + Deletion of additional alternatives applies if either an initial backward motion is detected, if the transition time is much bigger than the duration of the best teb + and if a teb cannot be optimized (thanks to Marco Bassa). + Optionally allowing the usage of the initial plan orientation when initializing new tebs. +* Contributors: Christoph Rösmann, Mikael Arguedas, Devon Ash, Howard Cochran, Marco Bassa, ShiquLIU, Tobi Loew, corot + +0.8.1 (2018-08-14) +------------------ +* bugfix in calculateHSignature. Fixes `#90 `_. +* fixed centroid computation in a special case of polygon-obstacles +* Contributors: Christoph Rösmann + +0.8.0 (2018-08-06) +------------------ +* First melodic release +* Updated to new g2o API +* Migration to tf2 +* Contributors: Christoph Rösmann + +0.7.3 (2018-07-05) +------------------ +* Parameter `switching_blocking_period` added to homotopy class planner parameter group. + Values greater than zero enforce the homotopy class planner to only switch to new equivalence classes as soon + as the given period is expired (this might reduce oscillations in some scenarios). The value is set to zero seconds + by default in order to not change the behavior of existing configurations. +* Fixed unconsistent naming of parameter `global_plan_viapoint_sep`. + The parameter retrieved at startup was `global_plan_via_point_sep` and via dynamic_reconfigure it was `global_plan_viapoint_sep`. + `global_plan_via_point_sep` has now been replaced by `global_plan_viapoint_sep` since this is more consistent with the variable name + in the code as well as `weight_viapoint` and the ros wiki description. + In order to not break things, the old parameter name can still be used. However, a deprecated warning is printed. +* transformGlobalPlan searches now for the closest point within the complete subset of the global plan in the local costmap: + In every sampling interval, the global plan is processed in order to find the closest pose to the robot (as reference start) + and the current end pose (either local at costmap boundary or max_global_plan_lookahead_dist). + Previously, the search algorithm stopped as soon as the distance to the robot increased once. + This caused troubles with more complex global plans, hence the new strategy checks the complete subset + of the global plan in the local costmap for the closest distance to the robot. +* via-points that are very close to the current robot pose or behind the robot are now skipped (in non-ordered mode) +* Edge creation: minor performance improvement for dynamic obstacle edges +* dynamic_reconfigure: parameter visualize_with_time_as_z_axis_scale moved to group trajectory +* Contributors: Christoph Rösmann + +0.7.2 (2018-06-08) +------------------ +* Adds the possibility to provide via-points via a topic. + Currently, the user needs to decide whether to receive via-points from topic or to obtain them from the global reference plan + (e.g., activate the latter by setting global_plan_viapoint_sep>0 as before). + A small test script publish_viapoints.py is provided to demonstrate the feature within test_optim_node. +* Contributors: Christoph Rösmann + +0.7.1 (2018-06-05) +------------------ +* Fixed a crucial bug (from 0.6.6): A cost function for prefering a clockwise resp. anti-clockwise turn was enabled by default. + This cost function was only intended to be active only for recovering from an oscillating robot. + This cost led to a penalty for one of the turning directions and hence the maximum turning rate for the penalized direction could not be reached. + Furthermore, which is more crucial: since the penalty applied only to a small (initial) subset of the trajectory, the overall control performance was poor + (huge gap between planned motion and closed-loop trajectories led to frequent corrections of the robot pose and hence many motion reversals). +* Adds support for circular obstacle types. This includes support for the radius field in costmap_converter::ObstacleMsg +* rqt reconfigure: parameters are now grouped in tabs (robot, trajectory, viapoints, ...) +* Update to use non deprecated pluginlib macro +* Python scripts updated to new obstacle message definition. +* Fixed issue when start and end are at the same location (PR #43) +* Normalize marker quaternions in *test_optim_node* +* Contributors: Christoph Rösmann, Alexander Reimann, Mikael Arguedas, wollip + +0.7.0 (2017-09-23) +------------------ +* This update introduces support for dynamic obstacles (thanks to Franz Albers, who implemented and tested the code). + Dynamic obstacle support requires parameter *include\_dynamic\_obstacles* to be activated. + Note, this feature is still experimental and subject to testing. + Motion prediction is performed using a constant velocity model. + Dynamic obstacles might be incorporated as follows: + * via a custom message provided on topic ~/obstacles (warning: we changed the message type from teb_local_planner/ObstacleMsg to costmap_converter/ObstacleArrayMsg). + * via the CostmapToDynamicObstacles plugin as part of the costmap\_converter package (still experimental). + A tutorial is going to be provided soon. +* FeedbackMsg includes a ObstacleMsg instead of a polygon +* ObstacleMsg removed from package since it is now part of the costmap\_converter package. +* Homotopy class planer code update: graph search methods and equivalence classes (h-signatures) are now + implemented as subclasses of more general interfaces. +* TEB trajectory initialization now uses a max\_vel\_x argument instead of the desired time difference in order to give the optimizer a better warm start. + Old methods are marked as deprecated. This change does not affect users settings. +* Inplace rotations removed from trajectory initialization to improve convergence speed of the optimizer +* teb\_local\_planner::ObstacleMsg removed in favor of costmap\_converter::ObstacleArrayMsg. This also requires custom obstacle publishers to update to the new format +* the "new" trajectory resizing method is only activated, if "include_dynamic_obstacles" is set to true. + We introduced the non-fast mode with the support of dynamic obstacles + (which leads to better results in terms of x-y-t homotopy planning). + However, we have not yet tested this mode intensively, so we keep + the previous mode as default until we finish our tests. +* added parameter and code to update costmap footprint if it is dynamic (#49) +* Contributors: Franz Albers, Christoph Rösmann, procopiostein + +0.6.6 (2016-12-23) +------------------ +* Strategy for recovering from oscillating local plans added (see new parameters) +* Horizon reduction for resolving infeasible trajectories is not activated anymore if the global goal is already selected + (to avoid oscillations due to changing final orientations) +* Global plan orientations are now taken for TEB initialization if lobal_plan_overwrite_orientation==true +* Parameter max_samples added +* Further fixes (thanks to Matthias Füller and Daniel Neumann for providing patches) + +0.6.5 (2016-11-15) +------------------ +* The trajectory is now initialized backwards for goals close to and behind the robot. + Parameter 'allow_init_with_backwards_motion' added. +* Updated the TEB selection in the HomotopyClassPlanner. + * A new parameter is introduced to prefer the equivalence class of the initial plan + * Fixed some bugs related to the deletion of candidates and for keeping the equivalence class of the initial plan. +* Weight adaptation added for obstacles edges. + Added parameter 'weight_adapt_factor'. + Obstacle weights are repeatedly scaled by this factor in each outer TEB iteration. + Increasing weights iteratively instead of setting a huge value a-priori leads to better numerical conditions. +* Added a warning if the optim footprint + min_obstacle_dist is smaller than the costmap footprint. + Validation is performed by only comparing the inscribed radii of the footprints. +* Revision/extension of the reduced-horizon backup mode which is triggered in case infeasible trajectories are detected. +* Changed HSignature to a generic equivalence class +* Minor changes + +0.6.4 (2016-10-23) +------------------ +* New default obstacle association strategy: + During optimization graph creation, for each pose of the trajectory a + relevance detection is performed before considering the obstacle + during optimization. New parameters are introduced. The + old strategy is kept as 'legacy' strategy (see parameters). +* Computation of velocities, acceleration and turning radii extended: + Added an option to compute the actual arc length + instead of using the Euclidean distance approximation (see parameter `exact_arc_length`. +* Added intermediate edge layer for unary, binary and multi edges in order to reduce code redundancy. +* Script for visualizing velocity profile updated to accept the feedback topic name via rosparam server +* Removed TebConfig dependency in TebVisualization +* PolygonObstacle can now be constructed using a vertices container +* HomotopyClassPlanner public interface extended +* Changed H-Signature computation to work 'again' with few obstacles such like 1 or 2 +* Removed inline flags in visualization.cpp +* Removed inline flags in timed_elastic_band.cpp. + Fixes `#15 `_. +* Increased bounds of many variables in dynamic_reconfigure. + Resolves `#14 `_. + The particular variables are maximum velocities, maximum accelerations, + minimum turning radius,... + Note: optimization weights and dt_ref as well as dt_hyst are not + tuned for velocities and accelerations beyond + the default values (e.g. >1 m/s). Just increasing the maximum velocity + bounds without adjusting the other parameters leads to an insufficient behavior. +* Default parameter value update: 'costmap_obstacles_behind_robot_dist' +* Additional minor fixes. + +0.6.3 (2016-08-17) +------------------ +* Changed the f0 function for calculating the H-Signature. + The new one seems to be more robust for a much larger number of obstacles + after some testing. +* HomotopyClassPlanner: vertex collision check removed since collisions will be determined in the edge collision check again +* Fixed distance calculation polygon-to-polygon-obstacle +* cmake config exports now *include directories* of external packages for dependent projects +* Enlarged upper bounds on goal position and orientation tolerances in *dynamic_reconfigure*. Fixes #13. + + +0.6.2 (2016-06-15) +------------------ +* Fixed bug causing the goal to disappear in case the robot arrives with non-zero orientation error. +* Inflation mode for obstacles added. +* The homotopy class of the global plan is now always forced to be initialized as trajectory. +* The initial velocity of the robot is now taken into account correctly for + all candidate trajectories. +* Removed a check in which the last remaining candidate trajectory was rejected if it was close to an obstacle. + This fix addresses issue `#7 `_ + +0.6.1 (2016-05-23) +------------------ +* Debian ARM64 library path added to SuiteSparse cmake find-script (resolves ARM compilation issue) + + +0.6.0 (2016-05-22) +------------------ +* Extended support to holonomic robots +* Wrong parameter namespace for *costmap_converter* plugins fixed +* Added the option to scale the length of the hcp sampling area +* Compiler warnings fixed. +* Workaround for compilation issues that are caused by a bug in boost 1.58 + concerning the graph library (missing move constructor/assignment operator + in boost source). +* Using *tf_listener* from *move_base* now. +* Via-point support improved. + Added the possibility to take the actual order of via-points into account. + Additionally, via-points beyond start and goal are now included. +* Obsolete include of the angles package header removed +* Update to package.xml version 2 +* Some other minor fixes. + + +0.4.0 (2016-04-19) +------------------ +* The teb_local_planner supports a path-following mode (w.r.t. the global plan) and via-points now. + This allows the user to adapt the tradeoff between time-optimality and path-following. + Check out the new tutorial: "Following the Global Plan (Via-Points)". +* All external configuration and launch files are removed, since they are part + of the new teb_local_planner_tutorials package. + + +0.3.1 (2016-04-14) +------------------ +* Fixed wrong coordinate transformation in 'line' and 'polygon' footprint models. +* Trajectory selection strategy in case of multiple topologies updated: + * The obstacle costs for selection can now be scaling separately. + * The cost regarding time optimality can now be replaced by the actual transition time. + * Added a hysteresis to cost comparison between a new and the previously selected trajectory. + * In the default parameter setting the strategy is similar to release 0.3.0. +* Warning message removed that occured if an odom message with only zeros was received. + + +0.3.0 (2016-04-08) +------------------ +* Different/custom robot footprints are now supported and subject to optimization (refer to the new tutorial!). +* The new robot footprint is also visualized using the common marker topic. +* The strategy of taking occupied costmap cells behind the robot into account has been improved. + These changes significantly improve navigation close to walls. +* Parameter 'max_global_plan_lookahead_dist' added. + Previously, the complete subset of the global plan contained in the local costmap + was taken into account for choosing the current intermediate goal point. With this parameter, the maximum + length of the reference global plan can be limited. The actual global plan subset + is now computed using the logical conjunction of both local costmap size and 'max_global_plan_lookahead_dist'. +* Bug fixes: + * Fixed a compilation issue on ARM architectures + * If custom obstacles are used, the container with old obstacles is now cleared properly. +* Parameter cleanup: + * "weight_X_obstacle" parameters combined to single parameter "weight_obstacle". + * "X_obstacle_poses_affected" parameters combined to single parameter "obstacle_poses_affected". + * Deprecated parameter 'costmap_emergency_stop_dist' removed. +* Code cleanup + + +0.2.3 (2016-02-01) +------------------ +* Marker lifetime changed +* In case the local planner detects an infeasible trajectory it does now try to + reduce the horizon to 50 percent of the length. The trajectory is only reduced + if some predefined cases are detected. + This mechanism constitutes a backup behavior. +* Improved carlike robot support. + Instead of commanding the robot using translational and rotational velocities, + the robot might also be commanded using the transl. velocity and steering angle. + Appropriate parameters are added to the config. +* Changed default parameter for 'h_signature_threshold' from 0.01 to 0.1 to better match the actual precision. +* Some python scripts for data conversion added +* Minor other changes + +0.2.2 (2016-01-11) +------------------ +* Carlike robots (ackermann steering) are supported from now on (at least experimentally) + by specifying a minimum bound on the turning radius. + Currently, the output of the planner in carlike mode is still (v,omega). + Since I don't have any real carlike robot, I would be really happy if someone could provide me with + some feedback to further improve/extend the support. +* Obstacle cost function modified to avoid undesired jerks in the trajectory. +* Added a feedback message that contains current trajectory information (poses, velocities and temporal information). + This is useful for analyzing and debugging the velocity profile e.g. at runtime. + The message will be published only if it's activated (rosparam). + A small python script is added to plot the velocity profile (while *test_optim_node* runs). +* Cost functions are now taking the direction/sign of the translational velocity into account: + Specifying a maximum backwards velocity other than forward velocity works now. + Additionally, the change in acceleration is now computed correctly if the robot switches directions. +* The global plan is now pruned such that already passed posses are cut off + (relevant for global planners with *planning_rate=0*). +* Fixed issue#1: If a global planner with *planning_rate=0* was used, + a TF timing/extrapolation issue appeared after some time. +* The planner resets now properly if the velocity command cannot be computed due to invalid optimization results. + + +0.2.1 (2015-12-30) +------------------ +* This is an important bugfix release. +* Fixed a major issue concerning the stability and performance of the optimization process. Each time the global planner was updating the global plan, the local planner was resetted completely even if + the updated global plan did not differ from the previous one. This led to stupid reinitializations and a slighly jerky behavior if the update rate of the global planner was high (each 0.5-2s). + From now on the local planner is able to utilize the global plan as a warm start and determine automatically whether to reinitialize or not. +* Support for polygon obstacles extended and improved (e.g. the homotopy class planner does now compute actual distances to the polygon rather than utilizing the distance to the centroid). + +0.2.0 (2015-12-23) +------------------ +* The teb_local_planner supports costmap_converter plugins (pluginlib) from now on. Those plugins convert occupied costmap2d cells into polygon shapes. + The costmap_converter is disabled by default, since the extension still needs to be tested (parameter choices, computation time advantages, etc.). + A tutorial will explain how to activate the converter using the ros-param server. + +0.1.11 (2015-12-12) +------------------- +* This is a bugfix release (it fixes a lot of issues which occured frequently when the robot was close to the goal) + +0.1.10 (2015-08-13) +------------------- +* The optimizer copies the global plan as initialization now instead of using a simple straight line approximation. +* Some bugfixes and improvements + +0.1.9 (2015-06-24) +------------------ +* Fixed a segmentation fault issue. This minor update is crucial for stability. + +0.1.8 (2015-06-08) +------------------ +* Custom obstacles can be included via publishing dedicated messages +* Goal-reached-condition also checks orientation error (desired yaw) now +* Numerical improvements of the h-signature calculation +* Minor bugfixes + +0.1.7 (2015-05-22) +------------------ +* Finally fixed saucy compilation issue by retaining compatiblity to newer distros + (my "new" 13.10 VM helps me to stop spamming new releases for testing). + +0.1.6 (2015-05-22) +------------------ +* Fixed compilation errors on ubuntu saucy caused by different FindEigen.cmake scripts. + I am not able to test releasing on saucy, forcing me to release again and again. Sorry. + +0.1.5 (2015-05-21) +------------------ +* Added possibility to dynamically change parameters of test_optim_node using dynamic reconfigure. +* Fixed a wrong default-min-max tuple in the dynamic reconfigure config. +* Useful config and launch files are now added to cmake install. +* Added install target for the test_optim_node executable. + +0.1.4 (2015-05-20) +------------------ +* Fixed compilation errors on ROS Jade + +0.1.3 (2015-05-20) +------------------ +* Fixed compilation errors on ubuntu saucy + +0.1.2 (2015-05-19) +------------------ +* Removed unused include that could break compilation. + +0.1.1 (2015-05-19) +------------------ +* All files added to the indigo-devel branch +* Initial commit +* Contributors: Christoph Rösmann diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/CMakeLists.txt b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/CMakeLists.txt new file mode 100644 index 0000000..43859bc --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/CMakeLists.txt @@ -0,0 +1,162 @@ +cmake_minimum_required(VERSION 3.5) +project(teb_local_planner) + +# Set to Release in order to speed up the program significantly +set(CMAKE_BUILD_TYPE Release) #None, Debug, Release, RelWithDebInfo, MinSizeRel + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +#if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") +# add_compile_options(-Wall -Wextra -Wpedantic) +#endif() + +## Find catkin macros and libraries +find_package(ament_cmake REQUIRED) +find_package(costmap_converter REQUIRED) +find_package(dwb_critics REQUIRED) +find_package(nav_2d_utils REQUIRED) +find_package(nav2_core REQUIRED) +find_package(nav2_costmap_2d REQUIRED) +find_package(nav2_util REQUIRED) +#find_package(interactive_markers REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(rclcpp REQUIRED) +find_package(rclcpp_action REQUIRED) +find_package(rclcpp_lifecycle REQUIRED) +find_package(std_msgs REQUIRED) +find_package(pluginlib REQUIRED) +find_package(teb_msgs REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_eigen REQUIRED) +find_package(tf2_geometry_msgs REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(visualization_msgs REQUIRED) +find_package(builtin_interfaces REQUIRED) + +message(STATUS "System: ${CMAKE_SYSTEM}") +## System dependencies are found with CMake's conventions +SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PROJECT_SOURCE_DIR}/cmake_modules) +message(STATUS "${CMAKE_MODULE_PATH}") +find_package(SUITESPARSE REQUIRED) +find_package(G2O REQUIRED) +find_package(Boost REQUIRED) + +# Eigen3 FindScript Backward compatibility (ubuntu saucy) +# Since FindEigen.cmake is deprecated starting from jade. +if (EXISTS "FindEigen3.cmake") + find_package(Eigen3 REQUIRED) + set(Eigen_INCLUDE_DIRS ${Eigen3_INCLUDE_DIRS}) +elseif (EXISTS "FindEigen.cmake") + find_package(Eigen REQUIRED) +elseif (EXISTS "FindEigen.cmake") + message(WARNING "No findEigen cmake script found. You must provde one of them, + e.g. by adding it to ${PROJECT_SOURCE_DIR}/cmake_modules.") +endif (EXISTS "FindEigen3.cmake") + +set(EXTERNAL_INCLUDE_DIRS ${Eigen_INCLUDE_DIRS} ${SUITESPARSE_INCLUDE_DIRS} ${G2O_INCLUDE_DIR}) +set(EXTERNAL_LIBS ${Boost_LIBRARIES} ${SUITESPARSE_LIBRARIES} ${G2O_LIBRARIES}) + +########### +## Build ## +########### + +include_directories( + include + ${Boost_INCLUDE_DIRS} + ${EXTERNAL_INCLUDE_DIRS} +) + +## Build the teb_local_planner library + +add_library(teb_local_planner SHARED + src/timed_elastic_band.cpp + src/optimal_planner.cpp + src/obstacles.cpp + src/visualization.cpp + src/recovery_behaviors.cpp + src/teb_config.cpp + src/homotopy_class_planner.cpp + src/teb_local_planner_ros.cpp + src/graph_search.cpp +) + +set(ament_dependencies + costmap_converter + dwb_critics + nav_2d_utils + nav2_core + nav2_costmap_2d + nav2_util + geometry_msgs + nav_msgs + rclcpp + rclcpp_action + rclcpp_lifecycle + std_msgs + pluginlib + teb_msgs + tf2 + tf2_eigen + tf2_geometry_msgs + tf2_ros + visualization_msgs + builtin_interfaces +) +ament_target_dependencies(teb_local_planner + ${ament_dependencies} +) +target_link_libraries(teb_local_planner + ${EXTERNAL_LIBS} +) + +target_compile_definitions(teb_local_planner PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS") + + +############# +## Install ## +############# + +## Mark executables and/or libraries for installation +install(TARGETS teb_local_planner + DESTINATION lib +) + +## Mark cpp header files for installation +install(DIRECTORY include/ + DESTINATION include/ +) + +## Mark other files for installation (e.g. launch and bag files, etc.) +install(FILES + teb_local_planner_plugin.xml + DESTINATION share + ) + +install(PROGRAMS scripts/cmd_vel_to_ackermann_drive.py DESTINATION lib/${PROJECT_NAME}) + +install(DIRECTORY params DESTINATION share/${PROJECT_NAME}) + +ament_export_include_directories(include) +ament_export_libraries(teb_local_planner) +ament_export_dependencies(${ament_dependencies}) +pluginlib_export_plugin_description_file(nav2_core teb_local_planner_plugin.xml) + +############# +## Testing ## +############# + +if(BUILD_TESTING) + find_package(ament_cmake_gtest REQUIRED) + #ament_add_gtest(homotopy_class_planner_test + # test/homotopy_class_planner_test.cpp + #) + #target_link_libraries(homotopy_class_planner_test + # teb_local_planner + #) +endif() + +ament_package() diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/LICENSE b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/LICENSE new file mode 100644 index 0000000..d4658cc --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/LICENSE @@ -0,0 +1,28 @@ +Copyright (c) 2016, TU Dortmund - Lehrstuhl RST +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +* Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +* Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +* Neither the name of teb_local_planner nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/cfg/TebLocalPlannerReconfigure.cfg b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/cfg/TebLocalPlannerReconfigure.cfg new file mode 100755 index 0000000..f403d7e --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/cfg/TebLocalPlannerReconfigure.cfg @@ -0,0 +1,420 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import * +#from local_planner_limits import add_generic_localplanner_params + +gen = ParameterGenerator() + +# This unusual line allows to reuse existing parameter definitions +# that concern all localplanners +#add_generic_localplanner_params(gen) + +# For integers and doubles: +# Name Type Reconfiguration level +# Description +# Default Min Max + + +grp_trajectory = gen.add_group("Trajectory", type="tab") + +# Trajectory +grp_trajectory.add("teb_autosize", bool_t, 0, + "Enable the automatic resizing of the trajectory during optimization (based on the temporal resolution of the trajectory, recommended)", + True) + +grp_trajectory.add("dt_ref", double_t, 0, + "Temporal resolution of the planned trajectory (usually it is set to the magnitude of the 1/control_rate)", + 0.3, 0.01, 1) + +grp_trajectory.add("dt_hysteresis", double_t, 0, + "Hysteresis that is utilized for automatic resizing depending on the current temporal resolution (dt): usually 10% of dt_ref", + 0.1, 0.002, 0.5) + +grp_trajectory.add("global_plan_overwrite_orientation", bool_t, 0, + "Some global planners are not considering the orientation at local subgoals between start and global goal, therefore determine it automatically", + True) + +grp_trajectory.add("allow_init_with_backwards_motion", bool_t, 0, + "If true, the underlying trajectories might be initialized with backwards motions in case the goal is behind the start within the local costmap (this is only recommended if the robot is equipped with rear sensors)", + False) + +grp_trajectory.add("max_global_plan_lookahead_dist", double_t, 0, + "Specify maximum length (cumulative Euclidean distances) of the subset of the global plan taken into account for optimization [if 0 or negative: disabled; the length is also bounded by the local costmap size]", + 3.0, 0, 50.0) + +grp_trajectory.add("force_reinit_new_goal_dist", double_t, 0, + "Force the planner to reinitialize the trajectory if a previous goal is updated with a seperation of more than the specified value in meters (skip hot-starting)", + 1.0, 0.0, 10.0) + +grp_trajectory.add("force_reinit_new_goal_angular", double_t, 0, + "Force the planner to reinitialize the trajectory if a previous goal is updated with a rotational difference of more than the specified value in radians (skip hot-starting)", + 0.78, 0.0, 4.0) + +grp_trajectory.add("feasibility_check_no_poses", int_t, 0, + "Specify up to which pose (under the feasibility_check_lookahead_distance) on the predicted plan the feasibility should be checked each sampling interval; if -1, all poses up to feasibility_check_lookahead_distance are checked.", + 5, -1, 50) + +grp_trajectory.add("feasibility_check_lookahead_distance", double_t, 0, + "Specify up to which distance (and with an index below feasibility_check_no_poses) from the robot the feasibility should be checked each sampling interval; if -1, all poses up to feasibility_check_no_poses are checked.", + -1, -1, 20) + +grp_trajectory.add("exact_arc_length", bool_t, 0, + "If true, the planner uses the exact arc length in velocity, acceleration and turning rate computations [-> increased cpu time], otherwise the euclidean approximation is used.", + False) + +grp_trajectory.add("publish_feedback", bool_t, 0, + "Publish planner feedback containing the full trajectory and a list of active obstacles (should be enabled only for evaluation or debugging purposes)", + False) + +grp_trajectory.add("visualize_with_time_as_z_axis_scale", double_t, 0, + "If this value is bigger than 0, the trajectory and obstacles are visualized in 3d using the time as the z-axis scaled by this value. Most useful for dynamic obstacles.", + 0, 0, 1) + +# ViaPoints +grp_viapoints = gen.add_group("ViaPoints", type="tab") + +grp_viapoints.add("global_plan_viapoint_sep", double_t, 0, + "Min. separation between each two consecutive via-points extracted from the global plan [if negative: disabled]", + -0.1, -0.1, 5.0) + +grp_viapoints.add("via_points_ordered", bool_t, 0, + "If true, the planner adheres to the order of via-points in the storage container", + False) + +# Robot +grp_robot = gen.add_group("Robot", type="tab") + +grp_robot.add("max_vel_x", double_t, 0, + "Maximum translational velocity of the robot", + 0.4, 0.01, 100) + +grp_robot.add("max_vel_x_backwards", double_t, 0, + "Maximum translational velocity of the robot for driving backwards", + 0.2, 0.01, 100) + +grp_robot.add("max_vel_theta", double_t, 0, + "Maximum angular velocity of the robot", + 0.3, 0.01, 100) + +grp_robot.add("acc_lim_x", double_t, 0, + "Maximum translational acceleration of the robot", + 0.5, 0.01, 100) + +grp_robot.add("acc_lim_theta", double_t, 0, + "Maximum angular acceleration of the robot", + 0.5, 0.01, 100) + +grp_robot.add("is_footprint_dynamic", bool_t, 0, + "If true, updated the footprint before checking trajectory feasibility", + False) + +grp_robot.add("use_proportional_saturation", bool_t, 0, + "If true, reduce all twists components (linear x and y, and angular z) proportionally if any exceed its corresponding bounds, instead of saturating each one individually", + False) +grp_robot.add("transform_tolerance", double_t, 0, + "Tolerance when querying the TF Tree for a transformation (seconds)", + 0.5, 0.001, 20) + +# Robot/Carlike + +grp_robot_carlike = grp_robot.add_group("Carlike", type="hide") + +grp_robot_carlike.add("min_turning_radius", double_t, 0, + "Minimum turning radius of a carlike robot (diff-drive robot: zero)", + 0.0, 0.0, 50.0) + +grp_robot_carlike.add("wheelbase", double_t, 0, + "The distance between the drive shaft and steering axle (only required for a carlike robot with 'cmd_angle_instead_rotvel' enabled); The value might be negative for back-wheeled robots!", + 1.0, -10.0, 10.0) + +grp_robot_carlike.add("cmd_angle_instead_rotvel", bool_t, 0, + "Substitute the rotational velocity in the commanded velocity message by the corresponding steering angle (check 'axles_distance')", + False) + +# Robot/Omni + +grp_robot_omni = grp_robot.add_group("Omnidirectional", type="hide") + +grp_robot_omni.add("max_vel_y", double_t, 0, + "Maximum strafing velocity of the robot (should be zero for non-holonomic robots!)", + 0.0, 0.0, 100) + +grp_robot_omni.add("acc_lim_y", double_t, 0, + "Maximum strafing acceleration of the robot", + 0.5, 0.01, 100) + +# GoalTolerance +grp_goal = gen.add_group("GoalTolerance", type="tab") + +grp_goal.add("free_goal_vel", bool_t, 0, + "Allow the robot's velocity to be nonzero for planning purposes (the robot can arrive at the goal with max speed)", + False) + +# Obstacles +grp_obstacles = gen.add_group("Obstacles", type="tab") + +grp_obstacles.add("min_obstacle_dist", double_t, 0, + "Minimum desired separation from obstacles", + 0.5, 0, 10) + +grp_obstacles.add("inflation_dist", double_t, 0, + "Buffer zone around obstacles with non-zero penalty costs (should be larger than min_obstacle_dist in order to take effect)", + 0.6, 0, 15) + +grp_obstacles.add("dynamic_obstacle_inflation_dist", double_t, 0, + "Buffer zone around predicted locations of dynamic obstacles with non-zero penalty costs (should be larger than min_obstacle_dist in order to take effect)", + 0.6, 0, 15) + +grp_obstacles.add("include_dynamic_obstacles", bool_t, 0, + "Specify whether the movement of dynamic obstacles should be predicted by a constant velocity model (this also changes the homotopy class search). If false, all obstacles are considered to be static.", + False) + +grp_obstacles.add("include_costmap_obstacles", bool_t, 0, + "Specify whether the obstacles in the costmap should be taken into account directly (this is necessary if no seperate clustering and detection is implemented)", + True) + +grp_obstacles.add("legacy_obstacle_association", bool_t, 0, + "If true, the old association strategy is used (for each obstacle, find the nearest TEB pose), otherwise the new one (for each teb pose, find only 'relevant' obstacles).", + False) + +grp_obstacles.add("obstacle_association_force_inclusion_factor", double_t, 0, + "The non-legacy obstacle association technique tries to connect only relevant obstacles with the discretized trajectory during optimization, all obstacles within a specifed distance are forced to be included (as a multiple of min_obstacle_dist), e.g. choose 2.0 in order to consider obstacles within a radius of 2.0*min_obstacle_dist.", + 1.5, 0.0, 100.0) + +grp_obstacles.add("obstacle_association_cutoff_factor", double_t, 0, + "See obstacle_association_force_inclusion_factor, but beyond a multiple of [value]*min_obstacle_dist all obstacles are ignored during optimization. obstacle_association_force_inclusion_factor is processed first.", + 5.0, 1.0, 100.0) + +grp_obstacles.add("costmap_obstacles_behind_robot_dist", double_t, 0, + "Limit the occupied local costmap obstacles taken into account for planning behind the robot (specify distance in meters)", + 1.5, 0.0, 20.0) + +grp_obstacles.add("obstacle_poses_affected", int_t, 0, + "The obstacle position is attached to the closest pose on the trajectory to reduce computational effort, but take a number of neighbors into account as well", + 30, 0, 200) + +# Obstacle - Velocity ratio parameters +grp_obstacles_velocity_limit = grp_obstacles.add_group("Reduce velocity near obstacles") + +grp_obstacles_velocity_limit.add("obstacle_proximity_ratio_max_vel", double_t, 0, + "Ratio of the maximum velocities used as an upper bound when reducing the speed due to the proximity to static obstacles", + 1, 0, 1) + +grp_obstacles_velocity_limit.add("obstacle_proximity_lower_bound", double_t, 0, + "Distance to a static obstacle for which the velocity should be lower", + 0, 0, 10) + +grp_obstacles_velocity_limit.add("obstacle_proximity_upper_bound", double_t, 0, + "Distance to a static obstacle for which the velocity should be higher", + 0.5, 0, 10) + +# Optimization +grp_optimization = gen.add_group("Optimization", type="tab") + +grp_optimization.add("no_inner_iterations", int_t, 0, + "Number of solver iterations called in each outerloop iteration", + 5, 1, 100) + +grp_optimization.add("no_outer_iterations", int_t, 0, + "Each outerloop iteration automatically resizes the trajectory and invokes the internal optimizer with no_inner_iterations", + 4, 1, 100) + +grp_optimization.add("optimization_activate", bool_t, 0, + "Activate the optimization", + True) + +grp_optimization.add("optimization_verbose", bool_t, 0, + "Print verbose information", + False) + +grp_optimization.add("penalty_epsilon", double_t, 0, + "Add a small safty margin to penalty functions for hard-constraint approximations", + 0.05, 0, 1.0) + +grp_optimization.add("weight_max_vel_x", double_t, 0, + "Optimization weight for satisfying the maximum allowed translational velocity", + 2, 0, 1000) + +grp_optimization.add("weight_max_vel_y", double_t, 0, + "Optimization weight for satisfying the maximum allowed strafing velocity (in use only for holonomic robots)", + 2, 0, 1000) + +grp_optimization.add("weight_max_vel_theta", double_t, 0, + "Optimization weight for satisfying the maximum allowed angular velocity", + 1, 0, 1000) + +grp_optimization.add("weight_acc_lim_x", double_t, 0, + "Optimization weight for satisfying the maximum allowed translational acceleration", + 1, 0, 1000) + +grp_optimization.add("weight_acc_lim_y", double_t, 0, + "Optimization weight for satisfying the maximum allowed strafing acceleration (in use only for holonomic robots)", + 1, 0, 1000) + +grp_optimization.add("weight_acc_lim_theta", double_t, 0, + "Optimization weight for satisfying the maximum allowed angular acceleration", + 1, 0, 1000) + +grp_optimization.add("weight_kinematics_nh", double_t, 0, + "Optimization weight for satisfying the non-holonomic kinematics", + 1000 , 0, 10000) + +grp_optimization.add("weight_kinematics_forward_drive", double_t, 0, + "Optimization weight for forcing the robot to choose only forward directions (positive transl. velocities, only diffdrive robot)", + 1, 0, 10000) + +grp_optimization.add("weight_kinematics_turning_radius", double_t, 0, + "Optimization weight for enforcing a minimum turning radius (carlike robots)", + 1, 0, 1000) + +grp_optimization.add("weight_optimaltime", double_t, 0, + "Optimization weight for contracting the trajectory w.r.t. transition time", + 1, 0, 1000) + +grp_optimization.add("weight_shortest_path", double_t, 0, + "Optimization weight for contracting the trajectory w.r.t. path length", + 0, 0, 100) + +grp_optimization.add("weight_obstacle", double_t, 0, + "Optimization weight for satisfying a minimum seperation from obstacles", + 50, 0, 1000) + +grp_optimization.add("weight_inflation", double_t, 0, + "Optimization weight for the inflation penalty (should be small)", + 0.1, 0, 10) + +grp_optimization.add("weight_dynamic_obstacle", double_t, 0, + "Optimization weight for satisfying a minimum seperation from dynamic obstacles", + 50, 0, 1000) + +grp_optimization.add("weight_dynamic_obstacle_inflation", double_t, 0, + "Optimization weight for the inflation penalty of dynamic obstacles (should be small)", + 0.1, 0, 10) + +grp_optimization.add("weight_velocity_obstacle_ratio", double_t, 0, + "Optimization weight for satisfying a maximum allowed velocity with respect to the distance to a static obstacle", + 0, 0, 1000) + +grp_optimization.add("weight_viapoint", double_t, 0, + "Optimization weight for minimizing the distance to via-points", + 1, 0, 1000) + +grp_optimization.add("weight_adapt_factor", double_t, 0, + "Some special weights (currently 'weight_obstacle') are repeatedly scaled by this factor in each outer TEB iteration (weight_new: weight_old * factor); Increasing weights iteratively instead of setting a huge value a-priori leads to better numerical conditions of the underlying optimization problem.", + 2, 1, 100) + +grp_optimization.add("obstacle_cost_exponent", double_t, 0, + "Exponent for nonlinear obstacle cost (cost = linear_cost * obstacle_cost_exponent). Set to 1 to disable nonlinear cost (default)", + 1, 0.01, 100) + + + +# Homotopy Class Planner +grp_hcp = gen.add_group("HCPlanning", type="tab") + +grp_hcp.add("enable_multithreading", bool_t, 0, + "Activate multiple threading for planning multiple trajectories in parallel", + True) + +grp_hcp.add("max_number_classes", int_t, 0, + "Specify the maximum number of allowed alternative homotopy classes (limits computational effort)", + 5, 1, 100) + +grp_hcp.add("max_number_plans_in_current_class", int_t, 0, + "Max number of trajectories to try that are in the same homotopy class as the current best trajectory (setting this to 2 or more helps avoid local minima). Must be <= max_number_classes", + 1, 1, 10) + +grp_hcp.add("selection_cost_hysteresis", double_t, 0, + "Specify how much trajectory cost must a new candidate have w.r.t. a previously selected trajectory in order to be selected (selection if new_cost < old_cost*factor)", + 1.0, 0, 2) + + +grp_hcp.add("selection_prefer_initial_plan", double_t, 0, + "Specify a cost reduction in the interval (0,1) for the trajectory in the equivalence class of the initial plan.)", + 0.95, 0, 1) + +grp_hcp.add("selection_obst_cost_scale", double_t, 0, + "Extra scaling of obstacle cost terms just for selecting the 'best' candidate (new_obst_cost: obst_cost*factor)", + 2.0, 0, 1000) + +grp_hcp.add("selection_viapoint_cost_scale", double_t, 0, + "Extra scaling of via-point cost terms just for selecting the 'best' candidate. (new_viapt_cost: viapt_cost*factor)", + 1.0, 0, 100) + +grp_hcp.add("selection_alternative_time_cost", bool_t, 0, + "If true, time cost is replaced by the total transition time.", + False) + +grp_hcp.add("selection_dropping_probability", double_t, 0, + "At each planning cycle, TEBs other than the current 'best' one will be randomly dropped with this probability. Prevents becoming 'fixated' on sub-optimal alternative homotopies.", + 0.0, 0.0, 1.0) + +grp_hcp.add("switching_blocking_period", double_t, 0, + "Specify a time duration in seconds that needs to be expired before a switch to new equivalence class is allowed", + 0.0, 0.0, 60) + +grp_hcp.add("roadmap_graph_no_samples", int_t, 0, + "Specify the number of samples generated for creating the roadmap graph, if simple_exploration is turend off", + 15, 1, 100) + +grp_hcp.add("roadmap_graph_area_width", double_t, 0, + "Specify the width of the area in which sampled will be generated between start and goal [m] (the height equals the start-goal distance)", + 5, 0.1, 20) + +grp_hcp.add("roadmap_graph_area_length_scale", double_t, 0, + "The length of the rectangular region is determined by the distance between start and goal. This parameter further scales the distance such that the geometric center remains equal!)", + 1.0, 0.5, 2) + +grp_hcp.add("h_signature_prescaler", double_t, 0, + "Scale number of obstacle value in order to allow huge number of obstacles. Do not choose it extremly low, otherwise obstacles cannot be distinguished from each other (0.2 + Value: true + - Alpha: 0.100000001 + Cell Size: 0.100000001 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Fine Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 100 + Reference Frame: + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /test_optim_node/local_plan + Unreliable: false + Value: true + - Alpha: 1 + Arrow Length: 0.300000012 + Axes Length: 0.300000012 + Axes Radius: 0.00999999978 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.0700000003 + Head Radius: 0.0299999993 + Name: PoseArray + Shaft Length: 0.230000004 + Shaft Radius: 0.00999999978 + Shape: Arrow (Flat) + Topic: /test_optim_node/teb_poses + Unreliable: false + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /test_optim_node/teb_markers + Name: Marker + Namespaces: + PointObstacles: true + Queue Size: 100 + Value: true + - Class: rviz/InteractiveMarkers + Enable Transparency: true + Enabled: true + Name: InteractiveMarkers + Show Axes: false + Show Descriptions: true + Show Visual Aids: false + Update Topic: /marker_obstacles/update + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: odom + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 7.77247 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 1.56979632 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.71043873 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000054a0000003efc0100000002fb0000000800540069006d006501000000000000054a0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003da000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1354 + X: 137 + Y: 50 diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/cmake_modules/FindG2O.cmake b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/cmake_modules/FindG2O.cmake new file mode 100644 index 0000000..b2670d3 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/cmake_modules/FindG2O.cmake @@ -0,0 +1,97 @@ +# Locate the g2o libraries +# A general framework for graph optimization. +# +# This module defines +# G2O_FOUND, if false, do not try to link against g2o +# G2O_LIBRARIES, path to the libg2o +# G2O_INCLUDE_DIR, where to find the g2o header files +# +# Niko Suenderhauf +# Adapted by Felix Endres + +IF(UNIX) + + #IF(G2O_INCLUDE_DIR AND G2O_LIBRARIES) + # in cache already + # SET(G2O_FIND_QUIETLY TRUE) + #ENDIF(G2O_INCLUDE_DIR AND G2O_LIBRARIES) + + MESSAGE(STATUS "Searching for g2o ...") + FIND_PATH(G2O_INCLUDE_DIR + NAMES core math_groups types + PATHS /usr/local /usr + PATH_SUFFIXES include/g2o include) + + IF (G2O_INCLUDE_DIR) + MESSAGE(STATUS "Found g2o headers in: ${G2O_INCLUDE_DIR}") + ENDIF (G2O_INCLUDE_DIR) + + FIND_LIBRARY(G2O_CORE_LIB + NAMES g2o_core g2o_core_rd + PATHS /usr/local /usr ${CMAKE_PREFIX_PATH} + PATH_SUFFIXES lib) + FIND_LIBRARY(G2O_STUFF_LIB + NAMES g2o_stuff g2o_stuff_rd + PATHS /usr/local /usr ${CMAKE_PREFIX_PATH} + PATH_SUFFIXES lib) + FIND_LIBRARY(G2O_TYPES_SLAM2D_LIB + NAMES g2o_types_slam2d g2o_types_slam2d_rd + PATHS /usr/local /usr ${CMAKE_PREFIX_PATH} + PATH_SUFFIXES lib) + FIND_LIBRARY(G2O_TYPES_SLAM3D_LIB + NAMES g2o_types_slam3d g2o_types_slam3d_rd + PATHS /usr/local /usr ${CMAKE_PREFIX_PATH} + PATH_SUFFIXES lib) + FIND_LIBRARY(G2O_SOLVER_CHOLMOD_LIB + NAMES g2o_solver_cholmod g2o_solver_cholmod_rd + PATHS /usr/local /usr ${CMAKE_PREFIX_PATH} + PATH_SUFFIXES lib) + FIND_LIBRARY(G2O_SOLVER_PCG_LIB + NAMES g2o_solver_pcg g2o_solver_pcg_rd + PATHS /usr/local /usr ${CMAKE_PREFIX_PATH} + PATH_SUFFIXES lib) + FIND_LIBRARY(G2O_SOLVER_CSPARSE_LIB + NAMES g2o_solver_csparse g2o_solver_csparse_rd + PATHS /usr/local /usr + PATH_SUFFIXES lib) + FIND_LIBRARY(G2O_INCREMENTAL_LIB + NAMES g2o_incremental g2o_incremental_rd + PATHS /usr/local /usr ${CMAKE_PREFIX_PATH} + PATH_SUFFIXES lib) + FIND_LIBRARY(G2O_CSPARSE_EXTENSION_LIB + NAMES g2o_csparse_extension g2o_csparse_extension_rd + PATHS /usr/local /usr ${CMAKE_PREFIX_PATH} + PATH_SUFFIXES lib) + + SET(G2O_LIBRARIES ${G2O_CSPARSE_EXTENSION_LIB} + ${G2O_CORE_LIB} + ${G2O_STUFF_LIB} + ${G2O_TYPES_SLAM2D_LIB} + ${G2O_TYPES_SLAM3D_LIB} + ${G2O_SOLVER_CHOLMOD_LIB} + ${G2O_SOLVER_PCG_LIB} + ${G2O_SOLVER_CSPARSE_LIB} + ${G2O_INCREMENTAL_LIB} + ) + + IF(G2O_LIBRARIES AND G2O_INCLUDE_DIR) + SET(G2O_FOUND "YES") + IF(NOT G2O_FIND_QUIETLY) + MESSAGE(STATUS "Found libg2o: ${G2O_LIBRARIES}") + ENDIF(NOT G2O_FIND_QUIETLY) + ELSE(G2O_LIBRARIES AND G2O_INCLUDE_DIR) + IF(NOT G2O_LIBRARIES) + IF(G2O_FIND_REQUIRED) + message(FATAL_ERROR "Could not find libg2o!") + ENDIF(G2O_FIND_REQUIRED) + ENDIF(NOT G2O_LIBRARIES) + + IF(NOT G2O_INCLUDE_DIR) + IF(G2O_FIND_REQUIRED) + message(FATAL_ERROR "Could not find g2o include directory!") + ENDIF(G2O_FIND_REQUIRED) + ENDIF(NOT G2O_INCLUDE_DIR) + ENDIF(G2O_LIBRARIES AND G2O_INCLUDE_DIR) + +ENDIF(UNIX) + diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/cmake_modules/FindSUITESPARSE.cmake b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/cmake_modules/FindSUITESPARSE.cmake new file mode 100644 index 0000000..101b79b --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/cmake_modules/FindSUITESPARSE.cmake @@ -0,0 +1,133 @@ +# - Try to find SUITESPARSE +# Once done this will define +# +# SUITESPARSE_FOUND - system has SUITESPARSE +# SUITESPARSE_INCLUDE_DIRS - the SUITESPARSE include directory +# SUITESPARSE_LIBRARIES - Link these to use SUITESPARSE +# SUITESPARSE_SPQR_LIBRARY - name of spqr library (necessary due to error in debian package) +# SUITESPARSE_SPQR_LIBRARY_DIR - name of spqr library (necessary due to error in debian package) +# SUITESPARSE_LIBRARY_DIR - Library main directory containing suitesparse libs +# SUITESPARSE_LIBRARY_DIRS - all Library directories containing suitesparse libs +# SUITESPARSE_SPQR_VALID - automatic identification whether or not spqr package is installed correctly + +IF (SUITESPARSE_INCLUDE_DIRS) + # Already in cache, be silent + SET(SUITESPARSE_FIND_QUIETLY TRUE) +ENDIF (SUITESPARSE_INCLUDE_DIRS) + +if( WIN32 ) + # Find cholmod part of the suitesparse library collection + + FIND_PATH( CHOLMOD_INCLUDE_DIR cholmod.h + PATHS "C:\\libs\\win32\\SuiteSparse\\Include" ) + + # Add cholmod include directory to collection include directories + IF ( CHOLMOD_INCLUDE_DIR ) + list ( APPEND SUITESPARSE_INCLUDE_DIRS ${CHOLMOD_INCLUDE_DIR} ) + ENDIF( CHOLMOD_INCLUDE_DIR ) + + + # find path suitesparse library + FIND_PATH( SUITESPARSE_LIBRARY_DIRS + amd.lib + PATHS "C:\\libs\\win32\\SuiteSparse\\libs" ) + + # if we found the library, add it to the defined libraries + IF ( SUITESPARSE_LIBRARY_DIRS ) + list ( APPEND SUITESPARSE_LIBRARIES optimized;amd;optimized;camd;optimized;ccolamd;optimized;cholmod;optimized;colamd;optimized;metis;optimized;spqr;optimized;umfpack;debug;amdd;debug;camdd;debug;ccolamdd;debug;cholmodd;debug;spqrd;debug;umfpackd;debug;colamdd;debug;metisd;optimized;blas;optimized;libf2c;optimized;lapack;debug;blasd;debug;libf2cd;debug;lapackd ) + ENDIF( SUITESPARSE_LIBRARY_DIRS ) + +else( WIN32 ) + IF(APPLE) + FIND_PATH( CHOLMOD_INCLUDE_DIR cholmod.h + PATHS /opt/local/include/ufsparse + /usr/local/include ) + + FIND_PATH( SUITESPARSE_LIBRARY_DIR + NAMES libcholmod.a + PATHS /opt/local/lib + /usr/local/lib ) + ELSE(APPLE) + FIND_PATH( CHOLMOD_INCLUDE_DIR cholmod.h + PATHS /usr/local/include + /usr/include + /usr/include/suitesparse/ + ${CMAKE_SOURCE_DIR}/MacOS/Libs/cholmod + PATH_SUFFIXES cholmod/ CHOLMOD/ ) + + FIND_PATH( SUITESPARSE_LIBRARY_DIR + NAMES libcholmod.so libcholmod.a + PATHS /usr/lib + /usr/lib64 + /usr/lib/x86_64-linux-gnu + /usr/lib/i386-linux-gnu + /usr/local/lib + /usr/lib/arm-linux-gnueabihf/ + /usr/lib/aarch64-linux-gnu/ + /usr/lib/arm-linux-gnueabi/ + /usr/lib/arm-linux-gnu) + ENDIF(APPLE) + + # Add cholmod include directory to collection include directories + IF ( CHOLMOD_INCLUDE_DIR ) + list ( APPEND SUITESPARSE_INCLUDE_DIRS ${CHOLMOD_INCLUDE_DIR} ) + ENDIF( CHOLMOD_INCLUDE_DIR ) + + # if we found the library, add it to the defined libraries + IF ( SUITESPARSE_LIBRARY_DIR ) + + list ( APPEND SUITESPARSE_LIBRARIES amd) + list ( APPEND SUITESPARSE_LIBRARIES btf) + list ( APPEND SUITESPARSE_LIBRARIES camd) + list ( APPEND SUITESPARSE_LIBRARIES ccolamd) + list ( APPEND SUITESPARSE_LIBRARIES cholmod) + list ( APPEND SUITESPARSE_LIBRARIES colamd) + # list ( APPEND SUITESPARSE_LIBRARIES csparse) + list ( APPEND SUITESPARSE_LIBRARIES cxsparse) + list ( APPEND SUITESPARSE_LIBRARIES klu) + # list ( APPEND SUITESPARSE_LIBRARIES spqr) + list ( APPEND SUITESPARSE_LIBRARIES umfpack) + + IF (APPLE) + list ( APPEND SUITESPARSE_LIBRARIES suitesparseconfig) + ENDIF (APPLE) + + # Metis and spqr are optional + FIND_LIBRARY( SUITESPARSE_METIS_LIBRARY + NAMES metis + PATHS ${SUITESPARSE_LIBRARY_DIR} ) + IF (SUITESPARSE_METIS_LIBRARY) + list ( APPEND SUITESPARSE_LIBRARIES metis) + ENDIF(SUITESPARSE_METIS_LIBRARY) + + if(EXISTS "${CHOLMOD_INCLUDE_DIR}/SuiteSparseQR.hpp") + SET(SUITESPARSE_SPQR_VALID TRUE CACHE BOOL "SuiteSparseSPQR valid") + else() + SET(SUITESPARSE_SPQR_VALID false CACHE BOOL "SuiteSparseSPQR valid") + endif() + + if(SUITESPARSE_SPQR_VALID) + FIND_LIBRARY( SUITESPARSE_SPQR_LIBRARY + NAMES spqr + PATHS ${SUITESPARSE_LIBRARY_DIR} ) + IF (SUITESPARSE_SPQR_LIBRARY) + list ( APPEND SUITESPARSE_LIBRARIES spqr) + ENDIF (SUITESPARSE_SPQR_LIBRARY) + endif() + + ENDIF( SUITESPARSE_LIBRARY_DIR ) + +endif( WIN32 ) + + +IF (SUITESPARSE_INCLUDE_DIRS AND SUITESPARSE_LIBRARIES) + IF(WIN32) + list (APPEND SUITESPARSE_INCLUDE_DIRS ${CHOLMOD_INCLUDE_DIR}/../../UFconfig ) + ENDIF(WIN32) + SET(SUITESPARSE_FOUND TRUE) + MESSAGE(STATUS "Found SuiteSparse") +ELSE (SUITESPARSE_INCLUDE_DIRS AND SUITESPARSE_LIBRARIES) + SET( SUITESPARSE_FOUND FALSE ) + MESSAGE(FATAL_ERROR "Unable to find SuiteSparse") +ENDIF (SUITESPARSE_INCLUDE_DIRS AND SUITESPARSE_LIBRARIES) + diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/distance_calculations.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/distance_calculations.h new file mode 100644 index 0000000..62f6b88 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/distance_calculations.h @@ -0,0 +1,464 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef DISTANCE_CALCULATIONS_H +#define DISTANCE_CALCULATIONS_H + +#include +#include "teb_local_planner/misc.h" + + +namespace teb_local_planner +{ + +//! Abbrev. for a container storing 2d points +typedef std::vector< Eigen::Vector2d, Eigen::aligned_allocator > Point2dContainer; + + +/** + * @brief Helper function to obtain the closest point on a line segment w.r.t. a reference point + * @param point 2D point + * @param line_start 2D point representing the start of the line segment + * @param line_end 2D point representing the end of the line segment + * @return Closest point on the line segment + */ +inline Eigen::Vector2d closest_point_on_line_segment_2d(const Eigen::Ref& point, const Eigen::Ref& line_start, const Eigen::Ref& line_end) +{ + Eigen::Vector2d diff = line_end - line_start; + double sq_norm = diff.squaredNorm(); + + if (sq_norm == 0) + return line_start; + + double u = ((point.x() - line_start.x()) * diff.x() + (point.y() - line_start.y())*diff.y()) / sq_norm; + + if (u <= 0) return line_start; + else if (u >= 1) return line_end; + + return line_start + u*diff; +} + +/** + * @brief Helper function to calculate the distance between a line segment and a point + * @param point 2D point + * @param line_start 2D point representing the start of the line segment + * @param line_end 2D point representing the end of the line segment + * @return minimum distance to a given line segment + */ +inline double distance_point_to_segment_2d(const Eigen::Ref& point, const Eigen::Ref& line_start, const Eigen::Ref& line_end) +{ + return (point - closest_point_on_line_segment_2d(point, line_start, line_end)).norm(); +} + +/** + * @brief Helper function to check whether two line segments intersects + * @param line1_start 2D point representing the start of the first line segment + * @param line1_end 2D point representing the end of the first line segment + * @param line2_start 2D point representing the start of the second line segment + * @param line2_end 2D point representing the end of the second line segment + * @param[out] intersection [optional] Write intersection point to destination (the value is only written, if both lines intersect, e.g. if the function returns \c true) + * @return \c true if both line segments intersect + */ +inline bool check_line_segments_intersection_2d(const Eigen::Ref& line1_start, const Eigen::Ref& line1_end, + const Eigen::Ref& line2_start, const Eigen::Ref& line2_end, Eigen::Vector2d* intersection = NULL) +{ + // http://stackoverflow.com/questions/563198/how-do-you-detect-where-two-line-segments-intersect + double s_numer, t_numer, denom, t; + Eigen::Vector2d line1 = line1_end - line1_start; + Eigen::Vector2d line2 = line2_end - line2_start; + + denom = line1.x() * line2.y() - line2.x() * line1.y(); + if (denom == 0) return false; // Collinear + bool denomPositive = denom > 0; + + Eigen::Vector2d aux = line1_start - line2_start; + + s_numer = line1.x() * aux.y() - line1.y() * aux.x(); + if ((s_numer < 0) == denomPositive) return false; // No collision + + t_numer = line2.x() * aux.y() - line2.y() * aux.x(); + if ((t_numer < 0) == denomPositive) return false; // No collision + + if (((s_numer > denom) == denomPositive) || ((t_numer > denom) == denomPositive)) return false; // No collision + + // Otherwise collision detected + t = t_numer / denom; + if (intersection) + { + *intersection = line1_start + t * line1; + } + + return true; +} + + +/** + * @brief Helper function to calculate the smallest distance between two line segments + * @param line1_start 2D point representing the start of the first line segment + * @param line1_end 2D point representing the end of the first line segment + * @param line2_start 2D point representing the start of the second line segment + * @param line2_end 2D point representing the end of the second line segment + * @return smallest distance between both segments +*/ +inline double distance_segment_to_segment_2d(const Eigen::Ref& line1_start, const Eigen::Ref& line1_end, + const Eigen::Ref& line2_start, const Eigen::Ref& line2_end) +{ + // TODO more efficient implementation + + // check if segments intersect + if (check_line_segments_intersection_2d(line1_start, line1_end, line2_start, line2_end)) + return 0; + + // check all 4 combinations + std::array distances; + + distances[0] = distance_point_to_segment_2d(line1_start, line2_start, line2_end); + distances[1] = distance_point_to_segment_2d(line1_end, line2_start, line2_end); + distances[2] = distance_point_to_segment_2d(line2_start, line1_start, line1_end); + distances[3] = distance_point_to_segment_2d(line2_end, line1_start, line1_end); + + return *std::min_element(distances.begin(), distances.end()); +} + + +/** + * @brief Helper function to calculate the smallest distance between a point and a closed polygon + * @param point 2D point + * @param vertices Vertices describing the closed polygon (the first vertex is not repeated at the end) + * @return smallest distance between point and polygon +*/ +inline double distance_point_to_polygon_2d(const Eigen::Vector2d& point, const Point2dContainer& vertices) +{ + double dist = HUGE_VAL; + + // the polygon is a point + if (vertices.size() == 1) + { + return (point - vertices.front()).norm(); + } + + // check each polygon edge + for (int i=0; i<(int)vertices.size()-1; ++i) + { + double new_dist = distance_point_to_segment_2d(point, vertices.at(i), vertices.at(i+1)); +// double new_dist = calc_distance_point_to_segment( position, vertices.at(i), vertices.at(i+1)); + if (new_dist < dist) + dist = new_dist; + } + + if (vertices.size()>2) // if not a line close polygon + { + double new_dist = distance_point_to_segment_2d(point, vertices.back(), vertices.front()); // check last edge + if (new_dist < dist) + return new_dist; + } + + return dist; +} + +/** + * @brief Helper function to calculate the smallest distance between a line segment and a closed polygon + * @param line_start 2D point representing the start of the line segment + * @param line_end 2D point representing the end of the line segment + * @param vertices Vertices describing the closed polygon (the first vertex is not repeated at the end) + * @return smallest distance between point and polygon +*/ +inline double distance_segment_to_polygon_2d(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, const Point2dContainer& vertices) +{ + double dist = HUGE_VAL; + + // the polygon is a point + if (vertices.size() == 1) + { + return distance_point_to_segment_2d(vertices.front(), line_start, line_end); + } + + // check each polygon edge + for (int i=0; i<(int)vertices.size()-1; ++i) + { + double new_dist = distance_segment_to_segment_2d(line_start, line_end, vertices.at(i), vertices.at(i+1)); +// double new_dist = calc_distance_point_to_segment( position, vertices.at(i), vertices.at(i+1)); + if (new_dist < dist) + dist = new_dist; + } + + if (vertices.size()>2) // if not a line close polygon + { + double new_dist = distance_segment_to_segment_2d(line_start, line_end, vertices.back(), vertices.front()); // check last edge + if (new_dist < dist) + return new_dist; + } + + return dist; +} + +/** + * @brief Helper function to calculate the smallest distance between two closed polygons + * @param vertices1 Vertices describing the first closed polygon (the first vertex is not repeated at the end) + * @param vertices2 Vertices describing the second closed polygon (the first vertex is not repeated at the end) + * @return smallest distance between point and polygon +*/ +inline double distance_polygon_to_polygon_2d(const Point2dContainer& vertices1, const Point2dContainer& vertices2) +{ + double dist = HUGE_VAL; + + // the polygon1 is a point + if (vertices1.size() == 1) + { + return distance_point_to_polygon_2d(vertices1.front(), vertices2); + } + + // check each edge of polygon1 + for (int i=0; i<(int)vertices1.size()-1; ++i) + { + double new_dist = distance_segment_to_polygon_2d(vertices1[i], vertices1[i+1], vertices2); + if (new_dist < dist) + dist = new_dist; + } + + if (vertices1.size()>2) // if not a line close polygon1 + { + double new_dist = distance_segment_to_polygon_2d(vertices1.back(), vertices1.front(), vertices2); // check last edge + if (new_dist < dist) + return new_dist; + } + + return dist; +} + + + + +// Further distance calculations: + + +// The Distance Calculations are mainly copied from http://geomalgorithms.com/a07-_distance.html +// Copyright 2001 softSurfer, 2012 Dan Sunday +// This code may be freely used and modified for any purpose +// providing that this copyright notice is included with it. +// SoftSurfer makes no warranty for this code, and cannot be held +// liable for any real or imagined damage resulting from its use. +// Users of this code must verify correctness for their application. + +inline double calc_distance_line_to_line_3d(const Eigen::Ref& x1, Eigen::Ref& u, + const Eigen::Ref& x2, Eigen::Ref& v) +{ + Eigen::Vector3d w = x2 - x1; + double a = u.squaredNorm(); // dot(u,u) always >= 0 + double b = u.dot(v); + double c = v.squaredNorm(); // dot(v,v) always >= 0 + double d = u.dot(w); + double e = v.dot(w); + double D = a*c - b*b; // always >= 0 + double sc, tc; + + // compute the line parameters of the two closest points + if (D < SMALL_NUM) { // the lines are almost parallel + sc = 0.0; + tc = (b>c ? d/b : e/c); // use the largest denominator + } + else { + sc = (b*e - c*d) / D; + tc = (a*e - b*d) / D; + } + + // get the difference of the two closest points + Eigen::Vector3d dP = w + (sc * u) - (tc * v); // = L1(sc) - L2(tc) + + return dP.norm(); // return the closest distance +} + + + + + +inline double calc_distance_segment_to_segment3D(const Eigen::Ref& line1_start, Eigen::Ref& line1_end, + const Eigen::Ref& line2_start, Eigen::Ref& line2_end) +{ + Eigen::Vector3d u = line1_end - line1_start; + Eigen::Vector3d v = line2_end - line2_start; + Eigen::Vector3d w = line2_start - line1_start; + double a = u.squaredNorm(); // dot(u,u) always >= 0 + double b = u.dot(v); + double c = v.squaredNorm(); // dot(v,v) always >= 0 + double d = u.dot(w); + double e = v.dot(w); + double D = a*c - b*b; // always >= 0 + double sc, sN, sD = D; // sc = sN / sD, default sD = D >= 0 + double tc, tN, tD = D; // tc = tN / tD, default tD = D >= 0 + + // compute the line parameters of the two closest points + if (D < SMALL_NUM) + { // the lines are almost parallel + sN = 0.0; // force using point P0 on segment S1 + sD = 1.0; // to prevent possible division by 0.0 later + tN = e; + tD = c; + } + else + { // get the closest points on the infinite lines + sN = (b*e - c*d); + tN = (a*e - b*d); + if (sN < 0.0) + { // sc < 0 => the s=0 edge is visible + sN = 0.0; + tN = e; + tD = c; + } + else if (sN > sD) + { // sc > 1 => the s=1 edge is visible + sN = sD; + tN = e + b; + tD = c; + } + } + + if (tN < 0.0) + { // tc < 0 => the t=0 edge is visible + tN = 0.0; + // recompute sc for this edge + if (-d < 0.0) + sN = 0.0; + else if (-d > a) + sN = sD; + else + { + sN = -d; + sD = a; + } + } + else if (tN > tD) + { // tc > 1 => the t=1 edge is visible + tN = tD; + // recompute sc for this edge + if ((-d + b) < 0.0) + sN = 0; + else if ((-d + b) > a) + sN = sD; + else + { + sN = (-d + b); + sD = a; + } + } + // finally do the division to get sc and tc + sc = (abs(sN) < SMALL_NUM ? 0.0 : sN / sD); + tc = (abs(tN) < SMALL_NUM ? 0.0 : tN / tD); + + // get the difference of the two closest points + Eigen::Vector3d dP = w + (sc * u) - (tc * v); // = S1(sc) - S2(tc) + + return dP.norm(); // return the closest distance +} + + + + +template +double calc_closest_point_to_approach_time(const VectorType& x1, const VectorType& vel1, const VectorType& x2, const VectorType& vel2) +{ + VectorType dv = vel1 - vel2; + + double dv2 = dv.squaredNorm(); // dot(v,v) + if (dv2 < SMALL_NUM) // the tracks are almost parallel + return 0.0; // any time is ok. Use time 0. + + VectorType w0 = x1 - x2; + double cpatime = -w0.dot(dv) / dv2; + + return cpatime; // time of CPA +} + +template +double calc_closest_point_to_approach_distance(const VectorType& x1, const VectorType& vel1, const VectorType& x2, const VectorType& vel2, double bound_cpa_time = 0) +{ + double ctime = calc_closest_point_to_approach_time(x1, vel1, x2, vel2); + if (bound_cpa_time!=0 && ctime > bound_cpa_time) ctime = bound_cpa_time; + VectorType P1 = x1 + (ctime * vel1); + VectorType P2 = x2 + (ctime * vel2); + + return (P2-P1).norm(); // distance at CPA +} + + + +// dist_Point_to_Line(): get the distance of a point to a line +// Input: a Point P and a Line L (in any dimension) +// Return: the shortest distance from P to L +template +double calc_distance_point_to_line( const VectorType& point, const VectorType& line_base, const VectorType& line_dir) +{ + VectorType w = point - line_base; + + double c1 = w.dot(line_dir); + double c2 = line_dir.dot(line_dir); + double b = c1 / c2; + + VectorType Pb = line_base + b * line_dir; + return (point-Pb).norm(); +} +//=================================================================== + + +// dist_Point_to_Segment(): get the distance of a point to a segment +// Input: a Point P and a Segment S (in any dimension) +// Return: the shortest distance from P to S +template +double calc_distance_point_to_segment( const VectorType& point, const VectorType& line_start, const VectorType& line_end) +{ + VectorType v = line_end - line_start; + VectorType w = point - line_start; + + double c1 = w.dot(v); + if ( c1 <= 0 ) + return w.norm(); + + double c2 = v.dot(v); + if ( c2 <= c1 ) + return (point-line_end).norm(); + + double b = c1 / c2; + VectorType Pb = line_start + b * v; + return (point-Pb).norm(); +} + + + +} // namespace teb_local_planner + +#endif /* DISTANCE_CALCULATIONS_H */ diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/equivalence_relations.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/equivalence_relations.h new file mode 100644 index 0000000..8551152 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/equivalence_relations.h @@ -0,0 +1,103 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef EQUIVALENCE_RELATIONS_H_ +#define EQUIVALENCE_RELATIONS_H_ + +#include + +namespace teb_local_planner +{ + +/** + * @class EquivalenceClass + * @brief Abstract class that defines an interface for computing and comparing equivalence classes + * + * Equivalence relations are utilized in order to test if two trajectories are belonging to the same + * equivalence class w.r.t. the current obstacle configurations. A common equivalence relation is + * the concept of homotopy classes. All trajectories belonging to the same homotopy class + * can CONTINUOUSLY be deformed into each other without intersecting any obstacle. Hence they likely + * share the same local minimum after invoking (local) trajectory optimization. A weaker equivalence relation + * is defined by the concept of homology classes (e.g. refer to HSignature). + * + * Each EquivalenceClass object (or subclass) stores a candidate value which might be compared to another EquivalenceClass object. + * + * @remarks Currently, the computeEquivalenceClass method is not available in the generic interface EquivalenceClass. + * Call the "compute"-methods directly on the subclass. + */ +class EquivalenceClass +{ +public: + + /** + * @brief Default constructor + */ + EquivalenceClass() {} + + /** + * @brief virtual destructor + */ + virtual ~EquivalenceClass() {} + + /** + * @brief Check if two candidate classes are equivalent + * @param other The other equivalence class to test with + */ + virtual bool isEqual(const EquivalenceClass& other) const = 0; + + /** + * @brief Check if the equivalence value is detected correctly + * @return Returns false, if the equivalence class detection failed, e.g. if nan- or inf values occur. + */ + virtual bool isValid() const = 0; + + /** + * @brief Check if the trajectory is non-looping around an obstacle + * @return Returns false, if the trajectory loops around an obstacle + */ + virtual bool isReasonable() const = 0; + +}; + +using EquivalenceClassPtr = std::shared_ptr; + + +} // namespace teb_local_planner + + +#endif /* EQUIVALENCE_RELATIONS_H_ */ diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/base_teb_edges.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/base_teb_edges.h new file mode 100644 index 0000000..dd35147 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/base_teb_edges.h @@ -0,0 +1,278 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef _BASE_TEB_EDGES_H_ +#define _BASE_TEB_EDGES_H_ + +#include "teb_local_planner/teb_config.h" + +#include +#include +#include + +namespace teb_local_planner +{ + + +/** + * @class BaseTebUnaryEdge + * @brief Base edge connecting a single vertex in the TEB optimization problem + * + * This edge defines a base edge type for the TEB optimization problem. + * It is derived from the corresponding g2o base classes augmented with additional information for the dedicated TEB problem (e.g. config). + * The destructor erases the edge in all attached vertices in order to allow keeping the vertices valid in subsequent g2o optimization calls. + * Memory of edges should be freed by calling the clearEdge method of the g2o optimizer class. + * @see BaseTebMultiEdge, BaseTebBinaryEdge, g2o::BaseBinaryEdge, g2o::BaseUnaryEdge, g2o::BaseMultiEdge + */ +template +class BaseTebUnaryEdge : public g2o::BaseUnaryEdge +{ +public: + + using typename g2o::BaseUnaryEdge::ErrorVector; + using g2o::BaseUnaryEdge::computeError; + + /** + * @brief Compute and return error / cost value. + * + * This method is called by TebOptimalPlanner::computeCurrentCost to obtain the current cost. + * @return 2D Cost / error vector [nh cost, backward drive dir cost]^T + */ + ErrorVector& getError() + { + computeError(); + return _error; + } + + /** + * @brief Read values from input stream + */ + virtual bool read(std::istream& is) + { + // TODO generic read + return true; + } + + /** + * @brief Write values to an output stream + */ + virtual bool write(std::ostream& os) const + { + // TODO generic write + return os.good(); + } + + /** + * @brief Assign the TebConfig class for parameters. + * @param cfg TebConfig class + */ + void setTebConfig(const TebConfig& cfg) + { + cfg_ = &cfg; + } + +protected: + + using g2o::BaseUnaryEdge::_error; + using g2o::BaseUnaryEdge::_vertices; + + const TebConfig* cfg_{nullptr}; //!< Store TebConfig class for parameters + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +/** + * @class BaseTebBinaryEdge + * @brief Base edge connecting two vertices in the TEB optimization problem + * + * This edge defines a base edge type for the TEB optimization problem. + * It is derived from the corresponding g2o base classes augmented with additional information for the dedicated TEB problem (e.g. config). + * The destructor erases the edge in all attached vertices in order to allow keeping the vertices valid in subsequent g2o optimization calls. + * Memory of edges should be freed by calling the clearEdge method of the g2o optimizer class. + * @see BaseTebMultiEdge, BaseTebUnaryEdge, g2o::BaseBinaryEdge, g2o::BaseUnaryEdge, g2o::BaseMultiEdge + */ +template +class BaseTebBinaryEdge : public g2o::BaseBinaryEdge +{ +public: + + using typename g2o::BaseBinaryEdge::ErrorVector; + using g2o::BaseBinaryEdge::computeError; + + /** + * @brief Compute and return error / cost value. + * + * This method is called by TebOptimalPlanner::computeCurrentCost to obtain the current cost. + * @return 2D Cost / error vector [nh cost, backward drive dir cost]^T + */ + ErrorVector& getError() + { + computeError(); + return _error; + } + + /** + * @brief Read values from input stream + */ + virtual bool read(std::istream& is) + { + // TODO generic read + return true; + } + + /** + * @brief Write values to an output stream + */ + virtual bool write(std::ostream& os) const + { + // TODO generic write + return os.good(); + } + + /** + * @brief Assign the TebConfig class for parameters. + * @param cfg TebConfig class + */ + void setTebConfig(const TebConfig& cfg) + { + cfg_ = &cfg; + } + +protected: + + using g2o::BaseBinaryEdge::_error; + using g2o::BaseBinaryEdge::_vertices; + + const TebConfig* cfg_{nullptr}; //!< Store TebConfig class for parameters + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + +/** + * @class BaseTebMultiEdge + * @brief Base edge connecting multiple vertices in the TEB optimization problem + * + * This edge defines a base edge type for the TEB optimization problem. + * It is derived from the corresponding g2o base classes augmented with additional information for the dedicated TEB problem (e.g. config). + * The destructor erases the edge in all attached vertices in order to allow keeping the vertices valid in subsequent g2o optimization calls. + * Memory of edges should be freed by calling the clearEdge method of the g2o optimizer class. + * @see BaseTebBinaryEdge, BaseTebUnaryEdge, g2o::BaseBinaryEdge, g2o::BaseUnaryEdge, g2o::BaseMultiEdge + */ +template +class BaseTebMultiEdge : public g2o::BaseMultiEdge +{ +public: + + using typename g2o::BaseMultiEdge::ErrorVector; + using g2o::BaseMultiEdge::computeError; + + // Overwrites resize() from the parent class + virtual void resize(size_t size) + { + g2o::BaseMultiEdge::resize(size); + + for(std::size_t i=0; i<_vertices.size(); ++i) + _vertices[i] = NULL; + } + + /** + * @brief Compute and return error / cost value. + * + * This method is called by TebOptimalPlanner::computeCurrentCost to obtain the current cost. + * @return 2D Cost / error vector [nh cost, backward drive dir cost]^T + */ + ErrorVector& getError() + { + computeError(); + return _error; + } + + /** + * @brief Read values from input stream + */ + virtual bool read(std::istream& is) + { + // TODO generic read + return true; + } + + /** + * @brief Write values to an output stream + */ + virtual bool write(std::ostream& os) const + { + // TODO generic write + return os.good(); + } + + /** + * @brief Assign the TebConfig class for parameters. + * @param cfg TebConfig class + */ + void setTebConfig(const TebConfig& cfg) + { + cfg_ = &cfg; + } + +protected: + + using g2o::BaseMultiEdge::_error; + using g2o::BaseMultiEdge::_vertices; + + const TebConfig* cfg_{nullptr}; //!< Store TebConfig class for parameters + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + + + + + +} // end namespace + +#endif diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_acceleration.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_acceleration.h new file mode 100644 index 0000000..5d3ff98 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_acceleration.h @@ -0,0 +1,732 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef EDGE_ACCELERATION_H_ +#define EDGE_ACCELERATION_H_ + +#include "teb_local_planner/g2o_types/vertex_pose.h" +#include "teb_local_planner/g2o_types/vertex_timediff.h" +#include "teb_local_planner/g2o_types/penalties.h" +#include "teb_local_planner/teb_config.h" +#include "teb_local_planner/g2o_types/base_teb_edges.h" +#include "teb_local_planner/misc.h" + +#include + +namespace teb_local_planner +{ + +/** + * @class EdgeAcceleration + * @brief Edge defining the cost function for limiting the translational and rotational acceleration. + * + * The edge depends on five vertices \f$ \mathbf{s}_i, \mathbf{s}_{ip1}, \mathbf{s}_{ip2}, \Delta T_i, \Delta T_{ip1} \f$ and minimizes: + * \f$ \min \textrm{penaltyInterval}( [a, omegadot } ]^T ) \cdot weight \f$. \n + * \e a is calculated using the difference quotient (twice) and the position parts of all three poses \n + * \e omegadot is calculated using the difference quotient of the yaw angles followed by a normalization to [-pi, pi]. \n + * \e weight can be set using setInformation() \n + * \e penaltyInterval denotes the penalty function, see penaltyBoundToInterval() \n + * The dimension of the error / cost vector is 2: the first component represents the translational acceleration and + * the second one the rotational acceleration. + * @see TebOptimalPlanner::AddEdgesAcceleration + * @see EdgeAccelerationStart + * @see EdgeAccelerationGoal + * @remarks Do not forget to call setTebConfig() + * @remarks Refer to EdgeAccelerationStart() and EdgeAccelerationGoal() for defining boundary values! + */ +class EdgeAcceleration : public BaseTebMultiEdge<2, double> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeAcceleration() + { + this->resize(5); + } + + /** + * @brief Actual cost function + */ + void computeError() + { + TEB_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeAcceleration()"); + const VertexPose* pose1 = static_cast(_vertices[0]); + const VertexPose* pose2 = static_cast(_vertices[1]); + const VertexPose* pose3 = static_cast(_vertices[2]); + const VertexTimeDiff* dt1 = static_cast(_vertices[3]); + const VertexTimeDiff* dt2 = static_cast(_vertices[4]); + + // VELOCITY & ACCELERATION + const Eigen::Vector2d diff1 = pose2->position() - pose1->position(); + const Eigen::Vector2d diff2 = pose3->position() - pose2->position(); + + double dist1 = diff1.norm(); + double dist2 = diff2.norm(); + const double angle_diff1 = g2o::normalize_theta(pose2->theta() - pose1->theta()); + const double angle_diff2 = g2o::normalize_theta(pose3->theta() - pose2->theta()); + + if (cfg_->trajectory.exact_arc_length) // use exact arc length instead of Euclidean approximation + { + if (angle_diff1 != 0) + { + const double radius = dist1/(2*sin(angle_diff1/2)); + dist1 = fabs( angle_diff1 * radius ); // actual arg length! + } + if (angle_diff2 != 0) + { + const double radius = dist2/(2*sin(angle_diff2/2)); + dist2 = fabs( angle_diff2 * radius ); // actual arg length! + } + } + + double vel1 = dist1 / dt1->dt(); + double vel2 = dist2 / dt2->dt(); + + + // consider directions +// vel1 *= g2o::sign(diff1[0]*cos(pose1->theta()) + diff1[1]*sin(pose1->theta())); +// vel2 *= g2o::sign(diff2[0]*cos(pose2->theta()) + diff2[1]*sin(pose2->theta())); + vel1 *= fast_sigmoid( 100*(diff1.x()*cos(pose1->theta()) + diff1.y()*sin(pose1->theta())) ); + vel2 *= fast_sigmoid( 100*(diff2.x()*cos(pose2->theta()) + diff2.y()*sin(pose2->theta())) ); + + const double acc_lin = (vel2 - vel1)*2 / ( dt1->dt() + dt2->dt() ); + + + _error[0] = penaltyBoundToInterval(acc_lin,cfg_->robot.acc_lim_x,cfg_->optim.penalty_epsilon); + + // ANGULAR ACCELERATION + const double omega1 = angle_diff1 / dt1->dt(); + const double omega2 = angle_diff2 / dt2->dt(); + const double acc_rot = (omega2 - omega1)*2 / ( dt1->dt() + dt2->dt() ); + + _error[1] = penaltyBoundToInterval(acc_rot,cfg_->robot.acc_lim_theta,cfg_->optim.penalty_epsilon); + + TEB_ASSERT_MSG(std::isfinite(_error[0]), "EdgeAcceleration::computeError() translational: _error[0]=%f\n",_error[0]); + TEB_ASSERT_MSG(std::isfinite(_error[1]), "EdgeAcceleration::computeError() rotational: _error[1]=%f\n",_error[1]); + } + + + +#ifdef USE_ANALYTIC_JACOBI +#if 0 + /* + * @brief Jacobi matrix of the cost function specified in computeError(). + */ + void linearizeOplus() + { + TEB_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeAcceleration()"); + const VertexPointXY* conf1 = static_cast(_vertices[0]); + const VertexPointXY* conf2 = static_cast(_vertices[1]); + const VertexPointXY* conf3 = static_cast(_vertices[2]); + const VertexTimeDiff* deltaT1 = static_cast(_vertices[3]); + const VertexTimeDiff* deltaT2 = static_cast(_vertices[4]); + const VertexOrientation* angle1 = static_cast(_vertices[5]); + const VertexOrientation* angle2 = static_cast(_vertices[6]); + const VertexOrientation* angle3 = static_cast(_vertices[7]); + + Eigen::Vector2d deltaS1 = conf2->estimate() - conf1->estimate(); + Eigen::Vector2d deltaS2 = conf3->estimate() - conf2->estimate(); + double dist1 = deltaS1.norm(); + double dist2 = deltaS2.norm(); + + double sum_time = deltaT1->estimate() + deltaT2->estimate(); + double sum_time_inv = 1 / sum_time; + double dt1_inv = 1/deltaT1->estimate(); + double dt2_inv = 1/deltaT2->estimate(); + double aux0 = 2/sum_time_inv; + double aux1 = dist1 * deltaT1->estimate(); + double aux2 = dist2 * deltaT2->estimate(); + + double vel1 = dist1 * dt1_inv; + double vel2 = dist2 * dt2_inv; + double omega1 = g2o::normalize_theta( angle2->estimate() - angle1->estimate() ) * dt1_inv; + double omega2 = g2o::normalize_theta( angle3->estimate() - angle2->estimate() ) * dt2_inv; + double acc = (vel2 - vel1) * aux0; + double omegadot = (omega2 - omega1) * aux0; + double aux3 = -acc/2; + double aux4 = -omegadot/2; + + double dev_border_acc = penaltyBoundToIntervalDerivative(acc, tebConfig.robot_acceleration_max_trans,optimizationConfig.optimization_boundaries_epsilon,optimizationConfig.optimization_boundaries_scale,optimizationConfig.optimization_boundaries_order); + double dev_border_omegadot = penaltyBoundToIntervalDerivative(omegadot, tebConfig.robot_acceleration_max_rot,optimizationConfig.optimization_boundaries_epsilon,optimizationConfig.optimization_boundaries_scale,optimizationConfig.optimization_boundaries_order); + + _jacobianOplus[0].resize(2,2); // conf1 + _jacobianOplus[1].resize(2,2); // conf2 + _jacobianOplus[2].resize(2,2); // conf3 + _jacobianOplus[3].resize(2,1); // deltaT1 + _jacobianOplus[4].resize(2,1); // deltaT2 + _jacobianOplus[5].resize(2,1); // angle1 + _jacobianOplus[6].resize(2,1); // angle2 + _jacobianOplus[7].resize(2,1); // angle3 + + if (aux1==0) aux1=1e-20; + if (aux2==0) aux2=1e-20; + + if (dev_border_acc!=0) + { + // TODO: double aux = aux0 * dev_border_acc; + // double aux123 = aux / aux1; + _jacobianOplus[0](0,0) = aux0 * deltaS1[0] / aux1 * dev_border_acc; // acc x1 + _jacobianOplus[0](0,1) = aux0 * deltaS1[1] / aux1 * dev_border_acc; // acc y1 + _jacobianOplus[1](0,0) = -aux0 * ( deltaS1[0] / aux1 + deltaS2[0] / aux2 ) * dev_border_acc; // acc x2 + _jacobianOplus[1](0,1) = -aux0 * ( deltaS1[1] / aux1 + deltaS2[1] / aux2 ) * dev_border_acc; // acc y2 + _jacobianOplus[2](0,0) = aux0 * deltaS2[0] / aux2 * dev_border_acc; // acc x3 + _jacobianOplus[2](0,1) = aux0 * deltaS2[1] / aux2 * dev_border_acc; // acc y3 + _jacobianOplus[2](0,0) = 0; + _jacobianOplus[2](0,1) = 0; + _jacobianOplus[3](0,0) = aux0 * (aux3 + vel1 * dt1_inv) * dev_border_acc; // acc deltaT1 + _jacobianOplus[4](0,0) = aux0 * (aux3 - vel2 * dt2_inv) * dev_border_acc; // acc deltaT2 + } + else + { + _jacobianOplus[0](0,0) = 0; // acc x1 + _jacobianOplus[0](0,1) = 0; // acc y1 + _jacobianOplus[1](0,0) = 0; // acc x2 + _jacobianOplus[1](0,1) = 0; // acc y2 + _jacobianOplus[2](0,0) = 0; // acc x3 + _jacobianOplus[2](0,1) = 0; // acc y3 + _jacobianOplus[3](0,0) = 0; // acc deltaT1 + _jacobianOplus[4](0,0) = 0; // acc deltaT2 + } + + if (dev_border_omegadot!=0) + { + _jacobianOplus[3](1,0) = aux0 * ( aux4 + omega1 * dt1_inv ) * dev_border_omegadot; // omegadot deltaT1 + _jacobianOplus[4](1,0) = aux0 * ( aux4 - omega2 * dt2_inv ) * dev_border_omegadot; // omegadot deltaT2 + _jacobianOplus[5](1,0) = aux0 * dt1_inv * dev_border_omegadot; // omegadot angle1 + _jacobianOplus[6](1,0) = -aux0 * ( dt1_inv + dt2_inv ) * dev_border_omegadot; // omegadot angle2 + _jacobianOplus[7](1,0) = aux0 * dt2_inv * dev_border_omegadot; // omegadot angle3 + } + else + { + _jacobianOplus[3](1,0) = 0; // omegadot deltaT1 + _jacobianOplus[4](1,0) = 0; // omegadot deltaT2 + _jacobianOplus[5](1,0) = 0; // omegadot angle1 + _jacobianOplus[6](1,0) = 0; // omegadot angle2 + _jacobianOplus[7](1,0) = 0; // omegadot angle3 + } + + _jacobianOplus[0](1,0) = 0; // omegadot x1 + _jacobianOplus[0](1,1) = 0; // omegadot y1 + _jacobianOplus[1](1,0) = 0; // omegadot x2 + _jacobianOplus[1](1,1) = 0; // omegadot y2 + _jacobianOplus[2](1,0) = 0; // omegadot x3 + _jacobianOplus[2](1,1) = 0; // omegadot y3 + _jacobianOplus[5](0,0) = 0; // acc angle1 + _jacobianOplus[6](0,0) = 0; // acc angle2 + _jacobianOplus[7](0,0) = 0; // acc angle3 + } +#endif +#endif + + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + +/** + * @class EdgeAccelerationStart + * @brief Edge defining the cost function for limiting the translational and rotational acceleration at the beginning of the trajectory. + * + * The edge depends on three vertices \f$ \mathbf{s}_i, \mathbf{s}_{ip1}, \Delta T_i \f$, an initial velocity defined by setInitialVelocity() + * and minimizes: \n + * \f$ \min \textrm{penaltyInterval}( [a, omegadot ]^T ) \cdot weight \f$. \n + * \e a is calculated using the difference quotient (twice) and the position parts of the poses. \n + * \e omegadot is calculated using the difference quotient of the yaw angles followed by a normalization to [-pi, pi]. \n + * \e weight can be set using setInformation(). \n + * \e penaltyInterval denotes the penalty function, see penaltyBoundToInterval(). \n + * The dimension of the error / cost vector is 2: the first component represents the translational acceleration and + * the second one the rotational acceleration. + * @see TebOptimalPlanner::AddEdgesAcceleration + * @see EdgeAcceleration + * @see EdgeAccelerationGoal + * @remarks Do not forget to call setTebConfig() + * @remarks Refer to EdgeAccelerationGoal() for defining boundary values at the end of the trajectory! + */ +class EdgeAccelerationStart : public BaseTebMultiEdge<2, const geometry_msgs::msg::Twist*> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeAccelerationStart() + { + _measurement = NULL; + this->resize(3); + } + + + /** + * @brief Actual cost function + */ + void computeError() + { + TEB_ASSERT_MSG(cfg_ && _measurement, "You must call setTebConfig() and setStartVelocity() on EdgeAccelerationStart()"); + const VertexPose* pose1 = static_cast(_vertices[0]); + const VertexPose* pose2 = static_cast(_vertices[1]); + const VertexTimeDiff* dt = static_cast(_vertices[2]); + + // VELOCITY & ACCELERATION + const Eigen::Vector2d diff = pose2->position() - pose1->position(); + double dist = diff.norm(); + const double angle_diff = g2o::normalize_theta(pose2->theta() - pose1->theta()); + if (cfg_->trajectory.exact_arc_length && angle_diff != 0) + { + const double radius = dist/(2*sin(angle_diff/2)); + dist = fabs( angle_diff * radius ); // actual arg length! + } + + const double vel1 = _measurement->linear.x; + double vel2 = dist / dt->dt(); + + // consider directions + //vel2 *= g2o::sign(diff[0]*cos(pose1->theta()) + diff[1]*sin(pose1->theta())); + vel2 *= fast_sigmoid( 100*(diff.x()*cos(pose1->theta()) + diff.y()*sin(pose1->theta())) ); + + const double acc_lin = (vel2 - vel1) / dt->dt(); + + _error[0] = penaltyBoundToInterval(acc_lin,cfg_->robot.acc_lim_x,cfg_->optim.penalty_epsilon); + + // ANGULAR ACCELERATION + const double omega1 = _measurement->angular.z; + const double omega2 = angle_diff / dt->dt(); + const double acc_rot = (omega2 - omega1) / dt->dt(); + + _error[1] = penaltyBoundToInterval(acc_rot,cfg_->robot.acc_lim_theta,cfg_->optim.penalty_epsilon); + + TEB_ASSERT_MSG(std::isfinite(_error[0]), "EdgeAccelerationStart::computeError() translational: _error[0]=%f\n",_error[0]); + TEB_ASSERT_MSG(std::isfinite(_error[1]), "EdgeAccelerationStart::computeError() rotational: _error[1]=%f\n",_error[1]); + } + + /** + * @brief Set the initial velocity that is taken into account for calculating the acceleration + * @param vel_start twist message containing the translational and rotational velocity + */ + void setInitialVelocity(const geometry_msgs::msg::Twist& vel_start) + { + _measurement = &vel_start; + } + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + + + +/** + * @class EdgeAccelerationGoal + * @brief Edge defining the cost function for limiting the translational and rotational acceleration at the end of the trajectory. + * + * The edge depends on three vertices \f$ \mathbf{s}_i, \mathbf{s}_{ip1}, \Delta T_i \f$, an initial velocity defined by setGoalVelocity() + * and minimizes: \n + * \f$ \min \textrm{penaltyInterval}( [a, omegadot ]^T ) \cdot weight \f$. \n + * \e a is calculated using the difference quotient (twice) and the position parts of the poses \n + * \e omegadot is calculated using the difference quotient of the yaw angles followed by a normalization to [-pi, pi]. \n + * \e weight can be set using setInformation() \n + * \e penaltyInterval denotes the penalty function, see penaltyBoundToInterval() \n + * The dimension of the error / cost vector is 2: the first component represents the translational acceleration and + * the second one the rotational acceleration. + * @see TebOptimalPlanner::AddEdgesAcceleration + * @see EdgeAcceleration + * @see EdgeAccelerationStart + * @remarks Do not forget to call setTebConfig() + * @remarks Refer to EdgeAccelerationStart() for defining boundary (initial) values at the end of the trajectory + */ +class EdgeAccelerationGoal : public BaseTebMultiEdge<2, const geometry_msgs::msg::Twist*> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeAccelerationGoal() + { + _measurement = NULL; + this->resize(3); + } + + + /** + * @brief Actual cost function + */ + void computeError() + { + TEB_ASSERT_MSG(cfg_ && _measurement, "You must call setTebConfig() and setGoalVelocity() on EdgeAccelerationGoal()"); + const VertexPose* pose_pre_goal = static_cast(_vertices[0]); + const VertexPose* pose_goal = static_cast(_vertices[1]); + const VertexTimeDiff* dt = static_cast(_vertices[2]); + + // VELOCITY & ACCELERATION + + const Eigen::Vector2d diff = pose_goal->position() - pose_pre_goal->position(); + double dist = diff.norm(); + const double angle_diff = g2o::normalize_theta(pose_goal->theta() - pose_pre_goal->theta()); + if (cfg_->trajectory.exact_arc_length && angle_diff != 0) + { + double radius = dist/(2*sin(angle_diff/2)); + dist = fabs( angle_diff * radius ); // actual arg length! + } + + double vel1 = dist / dt->dt(); + const double vel2 = _measurement->linear.x; + + // consider directions + //vel1 *= g2o::sign(diff[0]*cos(pose_pre_goal->theta()) + diff[1]*sin(pose_pre_goal->theta())); + vel1 *= fast_sigmoid( 100*(diff.x()*cos(pose_pre_goal->theta()) + diff.y()*sin(pose_pre_goal->theta())) ); + + const double acc_lin = (vel2 - vel1) / dt->dt(); + + _error[0] = penaltyBoundToInterval(acc_lin,cfg_->robot.acc_lim_x,cfg_->optim.penalty_epsilon); + + // ANGULAR ACCELERATION + const double omega1 = angle_diff / dt->dt(); + const double omega2 = _measurement->angular.z; + const double acc_rot = (omega2 - omega1) / dt->dt(); + + _error[1] = penaltyBoundToInterval(acc_rot,cfg_->robot.acc_lim_theta,cfg_->optim.penalty_epsilon); + + TEB_ASSERT_MSG(std::isfinite(_error[0]), "EdgeAccelerationGoal::computeError() translational: _error[0]=%f\n",_error[0]); + TEB_ASSERT_MSG(std::isfinite(_error[1]), "EdgeAccelerationGoal::computeError() rotational: _error[1]=%f\n",_error[1]); + } + + /** + * @brief Set the goal / final velocity that is taken into account for calculating the acceleration + * @param vel_goal twist message containing the translational and rotational velocity + */ + void setGoalVelocity(const geometry_msgs::msg::Twist& vel_goal) + { + _measurement = &vel_goal; + } + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + + + +/** + * @class EdgeAccelerationHolonomic + * @brief Edge defining the cost function for limiting the translational and rotational acceleration. + * + * The edge depends on five vertices \f$ \mathbf{s}_i, \mathbf{s}_{ip1}, \mathbf{s}_{ip2}, \Delta T_i, \Delta T_{ip1} \f$ and minimizes: + * \f$ \min \textrm{penaltyInterval}( [ax, ay, omegadot } ]^T ) \cdot weight \f$. \n + * \e ax is calculated using the difference quotient (twice) and the x position parts of all three poses \n + * \e ay is calculated using the difference quotient (twice) and the y position parts of all three poses \n + * \e omegadot is calculated using the difference quotient of the yaw angles followed by a normalization to [-pi, pi]. \n + * \e weight can be set using setInformation() \n + * \e penaltyInterval denotes the penalty function, see penaltyBoundToInterval() \n + * The dimension of the error / cost vector is 3: the first component represents the translational acceleration (x-dir), + * the second one the strafing acceleration and the third one the rotational acceleration. + * @see TebOptimalPlanner::AddEdgesAcceleration + * @see EdgeAccelerationHolonomicStart + * @see EdgeAccelerationHolonomicGoal + * @remarks Do not forget to call setTebConfig() + * @remarks Refer to EdgeAccelerationHolonomicStart() and EdgeAccelerationHolonomicGoal() for defining boundary values! + */ +class EdgeAccelerationHolonomic : public BaseTebMultiEdge<3, double> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeAccelerationHolonomic() + { + this->resize(5); + } + + /** + * @brief Actual cost function + */ + void computeError() + { + TEB_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeAcceleration()"); + const VertexPose* pose1 = static_cast(_vertices[0]); + const VertexPose* pose2 = static_cast(_vertices[1]); + const VertexPose* pose3 = static_cast(_vertices[2]); + const VertexTimeDiff* dt1 = static_cast(_vertices[3]); + const VertexTimeDiff* dt2 = static_cast(_vertices[4]); + + // VELOCITY & ACCELERATION + Eigen::Vector2d diff1 = pose2->position() - pose1->position(); + Eigen::Vector2d diff2 = pose3->position() - pose2->position(); + + double cos_theta1 = std::cos(pose1->theta()); + double sin_theta1 = std::sin(pose1->theta()); + double cos_theta2 = std::cos(pose2->theta()); + double sin_theta2 = std::sin(pose2->theta()); + + // transform pose2 into robot frame pose1 (inverse 2d rotation matrix) + double p1_dx = cos_theta1*diff1.x() + sin_theta1*diff1.y(); + double p1_dy = -sin_theta1*diff1.x() + cos_theta1*diff1.y(); + // transform pose3 into robot frame pose2 (inverse 2d rotation matrix) + double p2_dx = cos_theta2*diff2.x() + sin_theta2*diff2.y(); + double p2_dy = -sin_theta2*diff2.x() + cos_theta2*diff2.y(); + + double vel1_x = p1_dx / dt1->dt(); + double vel1_y = p1_dy / dt1->dt(); + double vel2_x = p2_dx / dt2->dt(); + double vel2_y = p2_dy / dt2->dt(); + + double dt12 = dt1->dt() + dt2->dt(); + + double acc_x = (vel2_x - vel1_x)*2 / dt12; + double acc_y = (vel2_y - vel1_y)*2 / dt12; + + _error[0] = penaltyBoundToInterval(acc_x,cfg_->robot.acc_lim_x,cfg_->optim.penalty_epsilon); + _error[1] = penaltyBoundToInterval(acc_y,cfg_->robot.acc_lim_y,cfg_->optim.penalty_epsilon); + + // ANGULAR ACCELERATION + double omega1 = g2o::normalize_theta(pose2->theta() - pose1->theta()) / dt1->dt(); + double omega2 = g2o::normalize_theta(pose3->theta() - pose2->theta()) / dt2->dt(); + double acc_rot = (omega2 - omega1)*2 / dt12; + + _error[2] = penaltyBoundToInterval(acc_rot,cfg_->robot.acc_lim_theta,cfg_->optim.penalty_epsilon); + + + TEB_ASSERT_MSG(std::isfinite(_error[0]), "EdgeAcceleration::computeError() translational: _error[0]=%f\n",_error[0]); + TEB_ASSERT_MSG(std::isfinite(_error[1]), "EdgeAcceleration::computeError() strafing: _error[1]=%f\n",_error[1]); + TEB_ASSERT_MSG(std::isfinite(_error[2]), "EdgeAcceleration::computeError() rotational: _error[2]=%f\n",_error[2]); + } + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + +/** + * @class EdgeAccelerationHolonomicStart + * @brief Edge defining the cost function for limiting the translational and rotational acceleration at the beginning of the trajectory. + * + * The edge depends on three vertices \f$ \mathbf{s}_i, \mathbf{s}_{ip1}, \Delta T_i \f$, an initial velocity defined by setInitialVelocity() + * and minimizes: \n + * \f$ \min \textrm{penaltyInterval}( [ax, ay, omegadot ]^T ) \cdot weight \f$. \n + * \e ax is calculated using the difference quotient (twice) and the x-position parts of the poses. \n + * \e ay is calculated using the difference quotient (twice) and the y-position parts of the poses. \n + * \e omegadot is calculated using the difference quotient of the yaw angles followed by a normalization to [-pi, pi]. \n + * \e weight can be set using setInformation(). \n + * \e penaltyInterval denotes the penalty function, see penaltyBoundToInterval(). \n + * The dimension of the error / cost vector is 3: the first component represents the translational acceleration, + * the second one the strafing acceleration and the third one the rotational acceleration. + * @see TebOptimalPlanner::AddEdgesAcceleration + * @see EdgeAccelerationHolonomic + * @see EdgeAccelerationHolonomicGoal + * @remarks Do not forget to call setTebConfig() + * @remarks Refer to EdgeAccelerationHolonomicGoal() for defining boundary values at the end of the trajectory! + */ +class EdgeAccelerationHolonomicStart : public BaseTebMultiEdge<3, const geometry_msgs::msg::Twist*> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeAccelerationHolonomicStart() + { + this->resize(3); + _measurement = NULL; + } + + /** + * @brief Actual cost function + */ + void computeError() + { + TEB_ASSERT_MSG(cfg_ && _measurement, "You must call setTebConfig() and setStartVelocity() on EdgeAccelerationStart()"); + const VertexPose* pose1 = static_cast(_vertices[0]); + const VertexPose* pose2 = static_cast(_vertices[1]); + const VertexTimeDiff* dt = static_cast(_vertices[2]); + + // VELOCITY & ACCELERATION + Eigen::Vector2d diff = pose2->position() - pose1->position(); + + double cos_theta1 = std::cos(pose1->theta()); + double sin_theta1 = std::sin(pose1->theta()); + + // transform pose2 into robot frame pose1 (inverse 2d rotation matrix) + double p1_dx = cos_theta1*diff.x() + sin_theta1*diff.y(); + double p1_dy = -sin_theta1*diff.x() + cos_theta1*diff.y(); + + double vel1_x = _measurement->linear.x; + double vel1_y = _measurement->linear.y; + double vel2_x = p1_dx / dt->dt(); + double vel2_y = p1_dy / dt->dt(); + + double acc_lin_x = (vel2_x - vel1_x) / dt->dt(); + double acc_lin_y = (vel2_y - vel1_y) / dt->dt(); + + _error[0] = penaltyBoundToInterval(acc_lin_x,cfg_->robot.acc_lim_x,cfg_->optim.penalty_epsilon); + _error[1] = penaltyBoundToInterval(acc_lin_y,cfg_->robot.acc_lim_y,cfg_->optim.penalty_epsilon); + + // ANGULAR ACCELERATION + double omega1 = _measurement->angular.z; + double omega2 = g2o::normalize_theta(pose2->theta() - pose1->theta()) / dt->dt(); + double acc_rot = (omega2 - omega1) / dt->dt(); + + _error[2] = penaltyBoundToInterval(acc_rot,cfg_->robot.acc_lim_theta,cfg_->optim.penalty_epsilon); + + TEB_ASSERT_MSG(std::isfinite(_error[0]), "EdgeAccelerationStart::computeError() translational: _error[0]=%f\n",_error[0]); + TEB_ASSERT_MSG(std::isfinite(_error[1]), "EdgeAccelerationStart::computeError() strafing: _error[1]=%f\n",_error[1]); + TEB_ASSERT_MSG(std::isfinite(_error[2]), "EdgeAccelerationStart::computeError() rotational: _error[2]=%f\n",_error[2]); + } + + /** + * @brief Set the initial velocity that is taken into account for calculating the acceleration + * @param vel_start twist message containing the translational and rotational velocity + */ + void setInitialVelocity(const geometry_msgs::msg::Twist& vel_start) + { + _measurement = &vel_start; + } + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + + +/** + * @class EdgeAccelerationHolonomicGoal + * @brief Edge defining the cost function for limiting the translational and rotational acceleration at the end of the trajectory. + * + * The edge depends on three vertices \f$ \mathbf{s}_i, \mathbf{s}_{ip1}, \Delta T_i \f$, an initial velocity defined by setGoalVelocity() + * and minimizes: \n + * \f$ \min \textrm{penaltyInterval}( [ax, ay, omegadot ]^T ) \cdot weight \f$. \n + * \e ax is calculated using the difference quotient (twice) and the x-position parts of the poses \n + * \e ay is calculated using the difference quotient (twice) and the y-position parts of the poses \n + * \e omegadot is calculated using the difference quotient of the yaw angles followed by a normalization to [-pi, pi]. \n + * \e weight can be set using setInformation() \n + * \e penaltyInterval denotes the penalty function, see penaltyBoundToInterval() \n + * The dimension of the error / cost vector is 3: the first component represents the translational acceleration, + * the second one is the strafing velocity and the third one the rotational acceleration. + * @see TebOptimalPlanner::AddEdgesAcceleration + * @see EdgeAccelerationHolonomic + * @see EdgeAccelerationHolonomicStart + * @remarks Do not forget to call setTebConfig() + * @remarks Refer to EdgeAccelerationHolonomicStart() for defining boundary (initial) values at the end of the trajectory + */ +class EdgeAccelerationHolonomicGoal : public BaseTebMultiEdge<3, const geometry_msgs::msg::Twist*> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeAccelerationHolonomicGoal() + { + _measurement = NULL; + this->resize(3); + } + + /** + * @brief Actual cost function + */ + void computeError() + { + TEB_ASSERT_MSG(cfg_ && _measurement, "You must call setTebConfig() and setGoalVelocity() on EdgeAccelerationGoal()"); + const VertexPose* pose_pre_goal = static_cast(_vertices[0]); + const VertexPose* pose_goal = static_cast(_vertices[1]); + const VertexTimeDiff* dt = static_cast(_vertices[2]); + + // VELOCITY & ACCELERATION + + Eigen::Vector2d diff = pose_goal->position() - pose_pre_goal->position(); + + double cos_theta1 = std::cos(pose_pre_goal->theta()); + double sin_theta1 = std::sin(pose_pre_goal->theta()); + + // transform pose2 into robot frame pose1 (inverse 2d rotation matrix) + double p1_dx = cos_theta1*diff.x() + sin_theta1*diff.y(); + double p1_dy = -sin_theta1*diff.x() + cos_theta1*diff.y(); + + double vel1_x = p1_dx / dt->dt(); + double vel1_y = p1_dy / dt->dt(); + double vel2_x = _measurement->linear.x; + double vel2_y = _measurement->linear.y; + + double acc_lin_x = (vel2_x - vel1_x) / dt->dt(); + double acc_lin_y = (vel2_y - vel1_y) / dt->dt(); + + _error[0] = penaltyBoundToInterval(acc_lin_x,cfg_->robot.acc_lim_x,cfg_->optim.penalty_epsilon); + _error[1] = penaltyBoundToInterval(acc_lin_y,cfg_->robot.acc_lim_y,cfg_->optim.penalty_epsilon); + + // ANGULAR ACCELERATION + double omega1 = g2o::normalize_theta(pose_goal->theta() - pose_pre_goal->theta()) / dt->dt(); + double omega2 = _measurement->angular.z; + double acc_rot = (omega2 - omega1) / dt->dt(); + + _error[2] = penaltyBoundToInterval(acc_rot,cfg_->robot.acc_lim_theta,cfg_->optim.penalty_epsilon); + + TEB_ASSERT_MSG(std::isfinite(_error[0]), "EdgeAccelerationGoal::computeError() translational: _error[0]=%f\n",_error[0]); + TEB_ASSERT_MSG(std::isfinite(_error[1]), "EdgeAccelerationGoal::computeError() strafing: _error[1]=%f\n",_error[1]); + TEB_ASSERT_MSG(std::isfinite(_error[2]), "EdgeAccelerationGoal::computeError() rotational: _error[2]=%f\n",_error[2]); + } + + + /** + * @brief Set the goal / final velocity that is taken into account for calculating the acceleration + * @param vel_goal twist message containing the translational and rotational velocity + */ + void setGoalVelocity(const geometry_msgs::msg::Twist& vel_goal) + { + _measurement = &vel_goal; + } + + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + + + +}; // end namespace + +#endif /* EDGE_ACCELERATION_H_ */ diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_dynamic_obstacle.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_dynamic_obstacle.h new file mode 100755 index 0000000..8224042 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_dynamic_obstacle.h @@ -0,0 +1,154 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann, Franz Albers + *********************************************************************/ + +#ifndef EDGE_DYNAMICOBSTACLE_H +#define EDGE_DYNAMICOBSTACLE_H + +#include "teb_local_planner/g2o_types/vertex_pose.h" +#include "teb_local_planner/g2o_types/vertex_timediff.h" +#include "teb_local_planner/g2o_types/penalties.h" +#include "teb_local_planner/g2o_types/base_teb_edges.h" +#include "teb_local_planner/obstacles.h" +#include "teb_local_planner/teb_config.h" +#include "teb_local_planner/robot_footprint_model.h" +#include "teb_local_planner/misc.h" + +namespace teb_local_planner +{ + +/** + * @class EdgeDynamicObstacle + * @brief Edge defining the cost function for keeping a distance from dynamic (moving) obstacles. + * + * The edge depends on two vertices \f$ \mathbf{s}_i, \Delta T_i \f$ and minimizes: \n + * \f$ \min \textrm{penaltyBelow}( dist2obstacle) \cdot weight \f$. \n + * \e dist2obstacle denotes the minimum distance to the obstacle trajectory (spatial and temporal). \n + * \e weight can be set using setInformation(). \n + * \e penaltyBelow denotes the penalty function, see penaltyBoundFromBelow(). \n + * @see TebOptimalPlanner::AddEdgesDynamicObstacles + * @remarks Do not forget to call setTebConfig(), setVertexIdx() and + * @warning Experimental + */ +class EdgeDynamicObstacle : public BaseTebUnaryEdge<2, const Obstacle*, VertexPose> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeDynamicObstacle() : t_(0) + { + } + + /** + * @brief Construct edge and specify the time for its associated pose (neccessary for computeError). + * @param t_ Estimated time until current pose is reached + */ + EdgeDynamicObstacle(double t) : t_(t) + { + } + + /** + * @brief Actual cost function + */ + void computeError() + { + TEB_ASSERT_MSG(cfg_ && _measurement && robot_model_, "You must call setTebConfig(), setObstacle() and setRobotModel() on EdgeDynamicObstacle()"); + const VertexPose* bandpt = static_cast(_vertices[0]); + + double dist = robot_model_->estimateSpatioTemporalDistance(bandpt->pose(), _measurement, t_); + + _error[0] = penaltyBoundFromBelow(dist, cfg_->obstacles.min_obstacle_dist, cfg_->optim.penalty_epsilon); + _error[1] = penaltyBoundFromBelow(dist, cfg_->obstacles.dynamic_obstacle_inflation_dist, 0.0); + + TEB_ASSERT_MSG(std::isfinite(_error[0]), "EdgeDynamicObstacle::computeError() _error[0]=%f\n",_error[0]); + } + + + /** + * @brief Set Obstacle for the underlying cost function + * @param obstacle Const pointer to an Obstacle or derived Obstacle + */ + void setObstacle(const Obstacle* obstacle) + { + _measurement = obstacle; + } + + /** + * @brief Set pointer to the robot model + * @param robot_model Robot model required for distance calculation + */ + void setRobotModel(const BaseRobotFootprintModel* robot_model) + { + robot_model_ = robot_model; + } + + /** + * @brief Set all parameters at once + * @param cfg TebConfig class + * @param robot_model Robot model required for distance calculation + * @param obstacle 2D position vector containing the position of the obstacle + */ + void setParameters(const TebConfig& cfg, const BaseRobotFootprintModel* robot_model, const Obstacle* obstacle) + { + cfg_ = &cfg; + robot_model_ = robot_model; + _measurement = obstacle; + } + +protected: + + const BaseRobotFootprintModel* robot_model_; //!< Store pointer to robot_model + double t_; //!< Estimated time until current pose is reached + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + + + +} // end namespace + +#endif diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_kinematics.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_kinematics.h new file mode 100755 index 0000000..012a865 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_kinematics.h @@ -0,0 +1,231 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef _EDGE_KINEMATICS_H +#define _EDGE_KINEMATICS_H + +#include "teb_local_planner/g2o_types/vertex_pose.h" +#include "teb_local_planner/g2o_types/penalties.h" +#include "teb_local_planner/g2o_types/base_teb_edges.h" +#include "teb_local_planner/teb_config.h" +#include "teb_local_planner/misc.h" + +#include + +namespace teb_local_planner +{ + +/** + * @class EdgeKinematicsDiffDrive + * @brief Edge defining the cost function for satisfying the non-holonomic kinematics of a differential drive mobile robot. + * + * The edge depends on two vertices \f$ \mathbf{s}_i, \mathbf{s}_{ip1} \f$ and minimizes a geometric interpretation + * of the non-holonomic constraint: + * - C. Rösmann et al.: Trajectory modification considering dynamic constraints of autonomous robots, ROBOTIK, 2012. + * + * The \e weight can be set using setInformation(): Matrix element 1,1: (Choose a very high value: ~1000). \n + * A second equation is implemented to penalize backward motions (second element of the error /cost vector). \n + * The \e weight can be set using setInformation(): Matrix element 2,2: (A value ~1 allows backward driving, but penalizes it slighly). \n + * The dimension of the error / cost vector is 2: the first component represents the nonholonomic constraint cost, + * the second one backward-drive cost. + * @see TebOptimalPlanner::AddEdgesKinematics, EdgeKinematicsCarlike + * @remarks Do not forget to call setTebConfig() + */ +class EdgeKinematicsDiffDrive : public BaseTebBinaryEdge<2, double, VertexPose, VertexPose> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeKinematicsDiffDrive() + { + this->setMeasurement(0.); + } + + /** + * @brief Actual cost function + */ + void computeError() + { + TEB_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeKinematicsDiffDrive()"); + const VertexPose* conf1 = static_cast(_vertices[0]); + const VertexPose* conf2 = static_cast(_vertices[1]); + + Eigen::Vector2d deltaS = conf2->position() - conf1->position(); + + // non holonomic constraint + _error[0] = fabs( ( cos(conf1->theta())+cos(conf2->theta()) ) * deltaS[1] - ( sin(conf1->theta())+sin(conf2->theta()) ) * deltaS[0] ); + + // positive-drive-direction constraint + Eigen::Vector2d angle_vec ( cos(conf1->theta()), sin(conf1->theta()) ); + _error[1] = penaltyBoundFromBelow(deltaS.dot(angle_vec), 0,0); + // epsilon=0, otherwise it pushes the first bandpoints away from start + + TEB_ASSERT_MSG(std::isfinite(_error[0]) && std::isfinite(_error[1]), "EdgeKinematicsDiffDrive::computeError() _error[0]=%f _error[1]=%f\n",_error[0],_error[1]); + } + +#ifdef USE_ANALYTIC_JACOBI +#if 1 + /** + * @brief Jacobi matrix of the cost function specified in computeError(). + */ + void linearizeOplus() + { + TEB_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeKinematicsDiffDrive()"); + const VertexPose* conf1 = static_cast(_vertices[0]); + const VertexPose* conf2 = static_cast(_vertices[1]); + + Eigen::Vector2d deltaS = conf2->position() - conf1->position(); + + double cos1 = cos(conf1->theta()); + double cos2 = cos(conf2->theta()); + double sin1 = sin(conf1->theta()); + double sin2 = sin(conf2->theta()); + double aux1 = sin1 + sin2; + double aux2 = cos1 + cos2; + + double dd_error_1 = deltaS[0]*cos1; + double dd_error_2 = deltaS[1]*sin1; + double dd_dev = penaltyBoundFromBelowDerivative(dd_error_1+dd_error_2, 0,0); + + double dev_nh_abs = g2o::sign( ( cos(conf1->theta())+cos(conf2->theta()) ) * deltaS[1] - + ( sin(conf1->theta())+sin(conf2->theta()) ) * deltaS[0] ); + + // conf1 + _jacobianOplusXi(0,0) = aux1 * dev_nh_abs; // nh x1 + _jacobianOplusXi(0,1) = -aux2 * dev_nh_abs; // nh y1 + _jacobianOplusXi(1,0) = -cos1 * dd_dev; // drive-dir x1 + _jacobianOplusXi(1,1) = -sin1 * dd_dev; // drive-dir y1 + _jacobianOplusXi(0,2) = (-dd_error_2 - dd_error_1) * dev_nh_abs; // nh angle + _jacobianOplusXi(1,2) = ( -sin1*deltaS[0] + cos1*deltaS[1] ) * dd_dev; // drive-dir angle1 + + // conf2 + _jacobianOplusXj(0,0) = -aux1 * dev_nh_abs; // nh x2 + _jacobianOplusXj(0,1) = aux2 * dev_nh_abs; // nh y2 + _jacobianOplusXj(1,0) = cos1 * dd_dev; // drive-dir x2 + _jacobianOplusXj(1,1) = sin1 * dd_dev; // drive-dir y2 + _jacobianOplusXj(0,2) = (-sin2*deltaS[1] - cos2*deltaS[0]) * dev_nh_abs; // nh angle + _jacobianOplusXj(1,2) = 0; // drive-dir angle1 + } +#endif +#endif + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + + + +/** + * @class EdgeKinematicsCarlike + * @brief Edge defining the cost function for satisfying the non-holonomic kinematics of a carlike mobile robot. + * + * The edge depends on two vertices \f$ \mathbf{s}_i, \mathbf{s}_{ip1} \f$ and minimizes a geometric interpretation + * of the non-holonomic constraint: + * - C. Rösmann et al.: Trajectory modification considering dynamic constraints of autonomous robots, ROBOTIK, 2012. + * + * The definition is identically to the one of the differential drive robot. + * Additionally, this edge incorporates a minimum turning radius that is required by carlike robots. + * The turning radius is defined by \f$ r=v/omega \f$. + * + * The \e weight can be set using setInformation(): Matrix element 1,1: (Choose a very high value: ~1000). \n + * The second equation enforces a minimum turning radius. + * The \e weight can be set using setInformation(): Matrix element 2,2. \n + * The dimension of the error / cost vector is 3: the first component represents the nonholonomic constraint cost, + * the second one backward-drive cost and the third one the minimum turning radius + * @see TebOptimalPlanner::AddEdgesKinematics, EdgeKinematicsDiffDrive + * @remarks Bounding the turning radius from below is not affected by the penalty_epsilon parameter, + * the user might add an extra margin to the min_turning_radius param. + * @remarks Do not forget to call setTebConfig() + */ +class EdgeKinematicsCarlike : public BaseTebBinaryEdge<2, double, VertexPose, VertexPose> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeKinematicsCarlike() + { + this->setMeasurement(0.); + } + + /** + * @brief Actual cost function + */ + void computeError() + { + TEB_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeKinematicsCarlike()"); + const VertexPose* conf1 = static_cast(_vertices[0]); + const VertexPose* conf2 = static_cast(_vertices[1]); + + Eigen::Vector2d deltaS = conf2->position() - conf1->position(); + + // non holonomic constraint + _error[0] = fabs( ( cos(conf1->theta())+cos(conf2->theta()) ) * deltaS[1] - ( sin(conf1->theta())+sin(conf2->theta()) ) * deltaS[0] ); + + // limit minimum turning radius + double angle_diff = g2o::normalize_theta( conf2->theta() - conf1->theta() ); + if (angle_diff == 0) + _error[1] = 0; // straight line motion + else if (cfg_->trajectory.exact_arc_length) // use exact computation of the radius + _error[1] = penaltyBoundFromBelow(fabs(deltaS.norm()/(2*sin(angle_diff/2))), cfg_->robot.min_turning_radius, 0.0); + else + _error[1] = penaltyBoundFromBelow(deltaS.norm() / fabs(angle_diff), cfg_->robot.min_turning_radius, 0.0); + // This edge is not affected by the epsilon parameter, the user might add an exra margin to the min_turning_radius parameter. + + TEB_ASSERT_MSG(std::isfinite(_error[0]) && std::isfinite(_error[1]), "EdgeKinematicsCarlike::computeError() _error[0]=%f _error[1]=%f\n",_error[0],_error[1]); + } + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + + + +} // end namespace + +#endif diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_obstacle.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_obstacle.h new file mode 100755 index 0000000..23c8bc4 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_obstacle.h @@ -0,0 +1,295 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ +#ifndef EDGE_OBSTACLE_H_ +#define EDGE_OBSTACLE_H_ + +#include "teb_local_planner/obstacles.h" +#include "teb_local_planner/robot_footprint_model.h" +#include "teb_local_planner/g2o_types/vertex_pose.h" +#include "teb_local_planner/g2o_types/base_teb_edges.h" +#include "teb_local_planner/g2o_types/penalties.h" +#include "teb_local_planner/teb_config.h" +#include "teb_local_planner/misc.h" + + +namespace teb_local_planner +{ + +/** + * @class EdgeObstacle + * @brief Edge defining the cost function for keeping a minimum distance from obstacles. + * + * The edge depends on a single vertex \f$ \mathbf{s}_i \f$ and minimizes: \n + * \f$ \min \textrm{penaltyBelow}( dist2point ) \cdot weight \f$. \n + * \e dist2point denotes the minimum distance to the point obstacle. \n + * \e weight can be set using setInformation(). \n + * \e penaltyBelow denotes the penalty function, see penaltyBoundFromBelow() \n + * @see TebOptimalPlanner::AddEdgesObstacles, TebOptimalPlanner::EdgeInflatedObstacle + * @remarks Do not forget to call setTebConfig() and setObstacle() + */ +class EdgeObstacle : public BaseTebUnaryEdge<1, const Obstacle*, VertexPose> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeObstacle() + { + _measurement = NULL; + } + + /** + * @brief Actual cost function + */ + void computeError() + { + TEB_ASSERT_MSG(cfg_ && _measurement && robot_model_, "You must call setTebConfig(), setObstacle() and setRobotModel() on EdgeObstacle()"); + const VertexPose* bandpt = static_cast(_vertices[0]); + + double dist = robot_model_->calculateDistance(bandpt->pose(), _measurement); + + // Original obstacle cost. + _error[0] = penaltyBoundFromBelow(dist, cfg_->obstacles.min_obstacle_dist, cfg_->optim.penalty_epsilon); + + if (cfg_->optim.obstacle_cost_exponent != 1.0 && cfg_->obstacles.min_obstacle_dist > 0.0) + { + // Optional non-linear cost. Note the max cost (before weighting) is + // the same as the straight line version and that all other costs are + // below the straight line (for positive exponent), so it may be + // necessary to increase weight_obstacle and/or the inflation_weight + // when using larger exponents. + _error[0] = cfg_->obstacles.min_obstacle_dist * std::pow(_error[0] / cfg_->obstacles.min_obstacle_dist, cfg_->optim.obstacle_cost_exponent); + } + + TEB_ASSERT_MSG(std::isfinite(_error[0]), "EdgeObstacle::computeError() _error[0]=%f\n",_error[0]); + } + +#ifdef USE_ANALYTIC_JACOBI +#if 0 + + /** + * @brief Jacobi matrix of the cost function specified in computeError(). + */ + void linearizeOplus() + { + TEB_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgePointObstacle()"); + const VertexPose* bandpt = static_cast(_vertices[0]); + + Eigen::Vector2d deltaS = *_measurement - bandpt->position(); + double angdiff = atan2(deltaS[1],deltaS[0])-bandpt->theta(); + + double dist_squared = deltaS.squaredNorm(); + double dist = sqrt(dist_squared); + + double aux0 = sin(angdiff); + double dev_left_border = penaltyBoundFromBelowDerivative(dist*fabs(aux0),cfg_->obstacles.min_obstacle_dist,cfg_->optim.penalty_epsilon); + + if (dev_left_border==0) + { + _jacobianOplusXi( 0 , 0 ) = 0; + _jacobianOplusXi( 0 , 1 ) = 0; + _jacobianOplusXi( 0 , 2 ) = 0; + return; + } + + double aux1 = -fabs(aux0) / dist; + double dev_norm_x = deltaS[0]*aux1; + double dev_norm_y = deltaS[1]*aux1; + + double aux2 = cos(angdiff) * g2o::sign(aux0); + double aux3 = aux2 / dist_squared; + double dev_proj_x = aux3 * deltaS[1] * dist; + double dev_proj_y = -aux3 * deltaS[0] * dist; + double dev_proj_angle = -aux2; + + _jacobianOplusXi( 0 , 0 ) = dev_left_border * ( dev_norm_x + dev_proj_x ); + _jacobianOplusXi( 0 , 1 ) = dev_left_border * ( dev_norm_y + dev_proj_y ); + _jacobianOplusXi( 0 , 2 ) = dev_left_border * dev_proj_angle; + } +#endif +#endif + + /** + * @brief Set pointer to associated obstacle for the underlying cost function + * @param obstacle 2D position vector containing the position of the obstacle + */ + void setObstacle(const Obstacle* obstacle) + { + _measurement = obstacle; + } + + /** + * @brief Set pointer to the robot model + * @param robot_model Robot model required for distance calculation + */ + void setRobotModel(const BaseRobotFootprintModel* robot_model) + { + robot_model_ = robot_model; + } + + /** + * @brief Set all parameters at once + * @param cfg TebConfig class + * @param robot_model Robot model required for distance calculation + * @param obstacle 2D position vector containing the position of the obstacle + */ + void setParameters(const TebConfig& cfg, const BaseRobotFootprintModel* robot_model, const Obstacle* obstacle) + { + cfg_ = &cfg; + robot_model_ = robot_model; + _measurement = obstacle; + } + +protected: + + const BaseRobotFootprintModel* robot_model_; //!< Store pointer to robot_model + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + + +/** + * @class EdgeInflatedObstacle + * @brief Edge defining the cost function for keeping a minimum distance from inflated obstacles. + * + * The edge depends on a single vertex \f$ \mathbf{s}_i \f$ and minimizes: \n + * \f$ \min \textrm{penaltyBelow}( dist2point, min_obstacle_dist ) \cdot weight_inflation \f$. \n + * Additional, a second penalty is provided with \n + * \f$ \min \textrm{penaltyBelow}( dist2point, inflation_dist ) \cdot weight_inflation \f$. + * It is assumed that inflation_dist > min_obstacle_dist and weight_inflation << weight_inflation. + * \e dist2point denotes the minimum distance to the point obstacle. \n + * \e penaltyBelow denotes the penalty function, see penaltyBoundFromBelow() \n + * @see TebOptimalPlanner::AddEdgesObstacles, TebOptimalPlanner::EdgeObstacle + * @remarks Do not forget to call setTebConfig() and setObstacle() + */ +class EdgeInflatedObstacle : public BaseTebUnaryEdge<2, const Obstacle*, VertexPose> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeInflatedObstacle() + { + _measurement = NULL; + } + + /** + * @brief Actual cost function + */ + void computeError() + { + TEB_ASSERT_MSG(cfg_ && _measurement && robot_model_, "You must call setTebConfig(), setObstacle() and setRobotModel() on EdgeInflatedObstacle()"); + const VertexPose* bandpt = static_cast(_vertices[0]); + + double dist = robot_model_->calculateDistance(bandpt->pose(), _measurement); + + // Original "straight line" obstacle cost. The max possible value + // before weighting is min_obstacle_dist + _error[0] = penaltyBoundFromBelow(dist, cfg_->obstacles.min_obstacle_dist, cfg_->optim.penalty_epsilon); + + if (cfg_->optim.obstacle_cost_exponent != 1.0 && cfg_->obstacles.min_obstacle_dist > 0.0) + { + // Optional non-linear cost. Note the max cost (before weighting) is + // the same as the straight line version and that all other costs are + // below the straight line (for positive exponent), so it may be + // necessary to increase weight_obstacle and/or the inflation_weight + // when using larger exponents. + _error[0] = cfg_->obstacles.min_obstacle_dist * std::pow(_error[0] / cfg_->obstacles.min_obstacle_dist, cfg_->optim.obstacle_cost_exponent); + } + + // Additional linear inflation cost + _error[1] = penaltyBoundFromBelow(dist, cfg_->obstacles.inflation_dist, 0.0); + + + TEB_ASSERT_MSG(std::isfinite(_error[0]) && std::isfinite(_error[1]), "EdgeInflatedObstacle::computeError() _error[0]=%f, _error[1]=%f\n",_error[0], _error[1]); + } + + /** + * @brief Set pointer to associated obstacle for the underlying cost function + * @param obstacle 2D position vector containing the position of the obstacle + */ + void setObstacle(const Obstacle* obstacle) + { + _measurement = obstacle; + } + + /** + * @brief Set pointer to the robot model + * @param robot_model Robot model required for distance calculation + */ + void setRobotModel(const BaseRobotFootprintModel* robot_model) + { + robot_model_ = robot_model; + } + + /** + * @brief Set all parameters at once + * @param cfg TebConfig class + * @param robot_model Robot model required for distance calculation + * @param obstacle 2D position vector containing the position of the obstacle + */ + void setParameters(const TebConfig& cfg, const BaseRobotFootprintModel* robot_model, const Obstacle* obstacle) + { + cfg_ = &cfg; + robot_model_ = robot_model; + _measurement = obstacle; + } + +protected: + + const BaseRobotFootprintModel* robot_model_; //!< Store pointer to robot_model + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + +} // end namespace + +#endif diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_prefer_rotdir.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_prefer_rotdir.h new file mode 100755 index 0000000..6e5ec9e --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_prefer_rotdir.h @@ -0,0 +1,115 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ +#ifndef EDGE_PREFER_ROTDIR_H_ +#define EDGE_PREFER_ROTDIR_H_ + +#include "teb_local_planner/g2o_types/vertex_pose.h" +#include "teb_local_planner/g2o_types/base_teb_edges.h" +#include "teb_local_planner/g2o_types/penalties.h" +#include "g2o/core/base_unary_edge.h" +#include "teb_local_planner/misc.h" + +namespace teb_local_planner +{ + +/** + * @class EdgePreferRotDir + * @brief Edge defining the cost function for penalzing a specified turning direction, in particular left resp. right turns + * + * The edge depends on two consecutive vertices \f$ \mathbf{s}_i, \mathbf{s}_{i+1} \f$ and penalizes a given rotation direction + * based on the \e weight and \e dir (\f$ dir \in \{-1,1\} \f$) + * \e dir should be +1 to prefer left rotations and -1 to prefer right rotations \n + * \e weight can be set using setInformation(). \n + * @see TebOptimalPlanner::AddEdgePreferRotDir + */ +class EdgePreferRotDir : public BaseTebBinaryEdge<1, double, VertexPose, VertexPose> +{ +public: + + /** + * @brief Construct edge. + */ + EdgePreferRotDir() + { + _measurement = 1; + } + + /** + * @brief Actual cost function + */ + void computeError() + { + const VertexPose* conf1 = static_cast(_vertices[0]); + const VertexPose* conf2 = static_cast(_vertices[1]); + + _error[0] = penaltyBoundFromBelow( _measurement*g2o::normalize_theta(conf2->theta()-conf1->theta()) , 0, 0); + + TEB_ASSERT_MSG(std::isfinite(_error[0]), "EdgePreferRotDir::computeError() _error[0]=%f\n",_error[0]); + } + + /** + * @brief Specify the prefered direction of rotation + * @param dir +1 to prefer the left side, -1 to prefer the right side + */ + void setRotDir(double dir) + { + _measurement = dir; + } + + /** Prefer rotations to the right */ + void preferRight() {_measurement = -1;} + + /** Prefer rotations to the right */ + void preferLeft() {_measurement = 1;} + + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + + +} // end namespace + +#endif diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_shortest_path.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_shortest_path.h new file mode 100644 index 0000000..8d5bb87 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_shortest_path.h @@ -0,0 +1,88 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef EDGE_SHORTEST_PATH_H_ +#define EDGE_SHORTEST_PATH_H_ + +#include + +#include "teb_local_planner/g2o_types/base_teb_edges.h" +#include "teb_local_planner/g2o_types/vertex_pose.h" +#include "teb_local_planner/misc.h" + +#include + +namespace teb_local_planner { + +/** + * @class EdgeShortestPath + * @brief Edge defining the cost function for minimizing the Euclidean distance between two consectuive poses. + * + * @see TebOptimalPlanner::AddEdgesShortestPath + */ +class EdgeShortestPath : public BaseTebBinaryEdge<1, double, VertexPose, VertexPose> { +public: + /** + * @brief Construct edge. + */ + EdgeShortestPath() { this->setMeasurement(0.); } + + /** + * @brief Actual cost function + */ + void computeError() { + TEB_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeShortestPath()"); + const VertexPose *pose1 = static_cast(_vertices[0]); + const VertexPose *pose2 = static_cast(_vertices[1]); + _error[0] = (pose2->position() - pose1->position()).norm(); + + TEB_ASSERT_MSG(std::isfinite(_error[0]), "EdgeShortestPath::computeError() _error[0]=%f\n", _error[0]); + } + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +} // end namespace + +#endif /* EDGE_SHORTEST_PATH_H_ */ diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_time_optimal.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_time_optimal.h new file mode 100644 index 0000000..0f7671b --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_time_optimal.h @@ -0,0 +1,117 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef EDGE_TIMEOPTIMAL_H_ +#define EDGE_TIMEOPTIMAL_H_ + +#include + +//#include + +#include "teb_local_planner/g2o_types/vertex_timediff.h" +#include "teb_local_planner/g2o_types/base_teb_edges.h" +#include "teb_local_planner/g2o_types/penalties.h" +#include "teb_local_planner/teb_config.h" +#include "teb_local_planner/misc.h" + +#include + +namespace teb_local_planner +{ + + +/** + * @class EdgeTimeOptimal + * @brief Edge defining the cost function for minimizing transition time of the trajectory. + * + * The edge depends on a single vertex \f$ \Delta T_i \f$ and minimizes: \n + * \f$ \min \Delta T_i^2 \cdot scale \cdot weight \f$. \n + * \e scale is determined using the penaltyEquality() function, since we experiences good convergence speeds with it. \n + * \e weight can be set using setInformation() (something around 1.0 seems to be fine). \n + * @see TebOptimalPlanner::AddEdgesTimeOptimal + * @remarks Do not forget to call setTebConfig() + */ +class EdgeTimeOptimal : public BaseTebUnaryEdge<1, double, VertexTimeDiff> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeTimeOptimal() + { + this->setMeasurement(0.); + } + + /** + * @brief Actual cost function + */ + void computeError() + { + TEB_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeTimeOptimal()"); + const VertexTimeDiff* timediff = static_cast(_vertices[0]); + + _error[0] = timediff->dt(); + + TEB_ASSERT_MSG(std::isfinite(_error[0]), "EdgeTimeOptimal::computeError() _error[0]=%f\n",_error[0]); + } + +#ifdef USE_ANALYTIC_JACOBI + /** + * @brief Jacobi matrix of the cost function specified in computeError(). + */ + void linearizeOplus() + { + TEB_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeTimeOptimal()"); + _jacobianOplusXi( 0 , 0 ) = 1; + } +#endif + + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +}; // end namespace + +#endif /* EDGE_TIMEOPTIMAL_H_ */ diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity.h new file mode 100755 index 0000000..29956c0 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity.h @@ -0,0 +1,275 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef EDGE_VELOCITY_H +#define EDGE_VELOCITY_H + +#include "teb_local_planner/g2o_types/vertex_pose.h" +#include "teb_local_planner/g2o_types/vertex_timediff.h" +#include "teb_local_planner/g2o_types/base_teb_edges.h" +#include "teb_local_planner/g2o_types/penalties.h" +#include "teb_local_planner/teb_config.h" +#include "teb_local_planner/misc.h" + +#include + +#include + +namespace teb_local_planner +{ + + +/** + * @class EdgeVelocity + * @brief Edge defining the cost function for limiting the translational and rotational velocity. + * + * The edge depends on three vertices \f$ \mathbf{s}_i, \mathbf{s}_{ip1}, \Delta T_i \f$ and minimizes: \n + * \f$ \min \textrm{penaltyInterval}( [v,omega]^T ) \cdot weight \f$. \n + * \e v is calculated using the difference quotient and the position parts of both poses. \n + * \e omega is calculated using the difference quotient of both yaw angles followed by a normalization to [-pi, pi]. \n + * \e weight can be set using setInformation(). \n + * \e penaltyInterval denotes the penalty function, see penaltyBoundToInterval(). \n + * The dimension of the error / cost vector is 2: the first component represents the translational velocity and + * the second one the rotational velocity. + * @see TebOptimalPlanner::AddEdgesVelocity + * @remarks Do not forget to call setTebConfig() + */ +class EdgeVelocity : public BaseTebMultiEdge<2, double> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeVelocity() + { + this->resize(3); // Since we derive from a g2o::BaseMultiEdge, set the desired number of vertices + } + + /** + * @brief Actual cost function + */ + void computeError() + { + TEB_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeVelocity()"); + const VertexPose* conf1 = static_cast(_vertices[0]); + const VertexPose* conf2 = static_cast(_vertices[1]); + const VertexTimeDiff* deltaT = static_cast(_vertices[2]); + + const Eigen::Vector2d deltaS = conf2->estimate().position() - conf1->estimate().position(); + + double dist = deltaS.norm(); + const double angle_diff = g2o::normalize_theta(conf2->theta() - conf1->theta()); + if (cfg_->trajectory.exact_arc_length && angle_diff != 0) + { + double radius = dist/(2*sin(angle_diff/2)); + dist = fabs( angle_diff * radius ); // actual arg length! + } + double vel = dist / deltaT->estimate(); + +// vel *= g2o::sign(deltaS[0]*cos(conf1->theta()) + deltaS[1]*sin(conf1->theta())); // consider direction + vel *= fast_sigmoid( 100 * (deltaS.x()*cos(conf1->theta()) + deltaS.y()*sin(conf1->theta())) ); // consider direction + + const double omega = angle_diff / deltaT->estimate(); + + _error[0] = penaltyBoundToInterval(vel, -cfg_->robot.max_vel_x_backwards, cfg_->robot.max_vel_x,cfg_->optim.penalty_epsilon); + _error[1] = penaltyBoundToInterval(omega, cfg_->robot.max_vel_theta,cfg_->optim.penalty_epsilon); + + TEB_ASSERT_MSG(std::isfinite(_error[0]), "EdgeVelocity::computeError() _error[0]=%f _error[1]=%f\n",_error[0],_error[1]); + } + +#ifdef USE_ANALYTIC_JACOBI +#if 0 //TODO the hardcoded jacobian does not include the changing direction (just the absolute value) + // Change accordingly... + + /** + * @brief Jacobi matrix of the cost function specified in computeError(). + */ + void linearizeOplus() + { + TEB_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeVelocity()"); + const VertexPose* conf1 = static_cast(_vertices[0]); + const VertexPose* conf2 = static_cast(_vertices[1]); + const VertexTimeDiff* deltaT = static_cast(_vertices[2]); + + Eigen::Vector2d deltaS = conf2->position() - conf1->position(); + double dist = deltaS.norm(); + double aux1 = dist*deltaT->estimate(); + double aux2 = 1/deltaT->estimate(); + + double vel = dist * aux2; + double omega = g2o::normalize_theta(conf2->theta() - conf1->theta()) * aux2; + + double dev_border_vel = penaltyBoundToIntervalDerivative(vel, -cfg_->robot.max_vel_x_backwards, cfg_->robot.max_vel_x,cfg_->optim.penalty_epsilon); + double dev_border_omega = penaltyBoundToIntervalDerivative(omega, cfg_->robot.max_vel_theta,cfg_->optim.penalty_epsilon); + + _jacobianOplus[0].resize(2,3); // conf1 + _jacobianOplus[1].resize(2,3); // conf2 + _jacobianOplus[2].resize(2,1); // deltaT + +// if (aux1==0) aux1=1e-6; +// if (aux2==0) aux2=1e-6; + + if (dev_border_vel!=0) + { + double aux3 = dev_border_vel / aux1; + _jacobianOplus[0](0,0) = -deltaS[0] * aux3; // vel x1 + _jacobianOplus[0](0,1) = -deltaS[1] * aux3; // vel y1 + _jacobianOplus[1](0,0) = deltaS[0] * aux3; // vel x2 + _jacobianOplus[1](0,1) = deltaS[1] * aux3; // vel y2 + _jacobianOplus[2](0,0) = -vel * aux2 * dev_border_vel; // vel deltaT + } + else + { + _jacobianOplus[0](0,0) = 0; // vel x1 + _jacobianOplus[0](0,1) = 0; // vel y1 + _jacobianOplus[1](0,0) = 0; // vel x2 + _jacobianOplus[1](0,1) = 0; // vel y2 + _jacobianOplus[2](0,0) = 0; // vel deltaT + } + + if (dev_border_omega!=0) + { + double aux4 = aux2 * dev_border_omega; + _jacobianOplus[2](1,0) = -omega * aux4; // omega deltaT + _jacobianOplus[0](1,2) = -aux4; // omega angle1 + _jacobianOplus[1](1,2) = aux4; // omega angle2 + } + else + { + _jacobianOplus[2](1,0) = 0; // omega deltaT + _jacobianOplus[0](1,2) = 0; // omega angle1 + _jacobianOplus[1](1,2) = 0; // omega angle2 + } + + _jacobianOplus[0](1,0) = 0; // omega x1 + _jacobianOplus[0](1,1) = 0; // omega y1 + _jacobianOplus[1](1,0) = 0; // omega x2 + _jacobianOplus[1](1,1) = 0; // omega y2 + _jacobianOplus[0](0,2) = 0; // vel angle1 + _jacobianOplus[1](0,2) = 0; // vel angle2 + } +#endif +#endif + + +public: + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + + + + + +/** + * @class EdgeVelocityHolonomic + * @brief Edge defining the cost function for limiting the translational and rotational velocity according to x,y and theta. + * + * The edge depends on three vertices \f$ \mathbf{s}_i, \mathbf{s}_{ip1}, \Delta T_i \f$ and minimizes: \n + * \f$ \min \textrm{penaltyInterval}( [vx,vy,omega]^T ) \cdot weight \f$. \n + * \e vx denotes the translational velocity w.r.t. x-axis (computed using finite differneces). \n + * \e vy denotes the translational velocity w.r.t. y-axis (computed using finite differneces). \n + * \e omega is calculated using the difference quotient of both yaw angles followed by a normalization to [-pi, pi]. \n + * \e weight can be set using setInformation(). \n + * \e penaltyInterval denotes the penalty function, see penaltyBoundToInterval(). \n + * The dimension of the error / cost vector is 3: the first component represents the translational velocity w.r.t. x-axis, + * the second one w.r.t. the y-axis and the third one the rotational velocity. + * @see TebOptimalPlanner::AddEdgesVelocity + * @remarks Do not forget to call setTebConfig() + */ +class EdgeVelocityHolonomic : public BaseTebMultiEdge<3, double> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeVelocityHolonomic() + { + this->resize(3); // Since we derive from a g2o::BaseMultiEdge, set the desired number of vertices + } + + /** + * @brief Actual cost function + */ + void computeError() + { + TEB_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeVelocityHolonomic()"); + const VertexPose* conf1 = static_cast(_vertices[0]); + const VertexPose* conf2 = static_cast(_vertices[1]); + const VertexTimeDiff* deltaT = static_cast(_vertices[2]); + Eigen::Vector2d deltaS = conf2->position() - conf1->position(); + + double cos_theta1 = std::cos(conf1->theta()); + double sin_theta1 = std::sin(conf1->theta()); + + // transform conf2 into current robot frame conf1 (inverse 2d rotation matrix) + double r_dx = cos_theta1*deltaS.x() + sin_theta1*deltaS.y(); + double r_dy = -sin_theta1*deltaS.x() + cos_theta1*deltaS.y(); + + double vx = r_dx / deltaT->estimate(); + double vy = r_dy / deltaT->estimate(); + double omega = g2o::normalize_theta(conf2->theta() - conf1->theta()) / deltaT->estimate(); + + _error[0] = penaltyBoundToInterval(vx, -cfg_->robot.max_vel_x_backwards, cfg_->robot.max_vel_x, cfg_->optim.penalty_epsilon); + _error[1] = penaltyBoundToInterval(vy, cfg_->robot.max_vel_y, 0.0); // we do not apply the penalty epsilon here, since the velocity could be close to zero + _error[2] = penaltyBoundToInterval(omega, cfg_->robot.max_vel_theta,cfg_->optim.penalty_epsilon); + + TEB_ASSERT_MSG(std::isfinite(_error[0]) && std::isfinite(_error[1]) && std::isfinite(_error[2]), + "EdgeVelocityHolonomic::computeError() _error[0]=%f _error[1]=%f _error[2]=%f\n",_error[0],_error[1],_error[2]); + } + + +public: + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + +} // end namespace + +#endif diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity_obstacle_ratio.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity_obstacle_ratio.h new file mode 100644 index 0000000..1dff242 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity_obstacle_ratio.h @@ -0,0 +1,127 @@ +#pragma once + + +#include +#include +#include +#include +#include + +namespace teb_local_planner +{ + + +/** + * @class EdgeVelocityObstacleRatio + * @brief Edge defining the cost function for keeping a minimum distance from obstacles. + * + * The edge depends on a single vertex \f$ \mathbf{s}_i \f$ and minimizes: \n + * \f$ \min \textrm{penaltyBelow}( dist2point ) \cdot weight \f$. \n + * \e dist2point denotes the minimum distance to the point obstacle. \n + * \e weight can be set using setInformation(). \n + * \e penaltyBelow denotes the penalty function, see penaltyBoundFromBelow() \n + * @see TebOptimalPlanner::AddEdgesObstacles, TebOptimalPlanner::EdgeInflatedObstacle + * @remarks Do not forget to call setTebConfig() and setObstacle() + */ +class EdgeVelocityObstacleRatio : public BaseTebMultiEdge<2, const Obstacle*> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeVelocityObstacleRatio() : + robot_model_(nullptr) + { + // The three vertices are two poses and one time difference + this->resize(3); // Since we derive from a g2o::BaseMultiEdge, set the desired number of vertices + } + + /** + * @brief Actual cost function + */ + void computeError() + { + TEB_ASSERT_MSG(cfg_ && _measurement && robot_model_, "You must call setTebConfig(), setObstacle() and setRobotModel() on EdgeVelocityObstacleRatio()"); + const VertexPose* conf1 = static_cast(_vertices[0]); + const VertexPose* conf2 = static_cast(_vertices[1]); + const VertexTimeDiff* deltaT = static_cast(_vertices[2]); + + const Eigen::Vector2d deltaS = conf2->estimate().position() - conf1->estimate().position(); + + double dist = deltaS.norm(); + const double angle_diff = g2o::normalize_theta(conf2->theta() - conf1->theta()); + if (cfg_->trajectory.exact_arc_length && angle_diff != 0) + { + double radius = dist/(2*sin(angle_diff/2)); + dist = fabs( angle_diff * radius ); // actual arg length! + } + double vel = dist / deltaT->estimate(); + + vel *= fast_sigmoid( 100 * (deltaS.x()*cos(conf1->theta()) + deltaS.y()*sin(conf1->theta())) ); // consider direction + + const double omega = angle_diff / deltaT->estimate(); + + double dist_to_obstacle = robot_model_->calculateDistance(conf1->pose(), _measurement); + + double ratio; + if (dist_to_obstacle < cfg_->obstacles.obstacle_proximity_lower_bound) + ratio = 0; + else if (dist_to_obstacle > cfg_->obstacles.obstacle_proximity_upper_bound) + ratio = 1; + else + ratio = (dist_to_obstacle - cfg_->obstacles.obstacle_proximity_lower_bound) / + (cfg_->obstacles.obstacle_proximity_upper_bound - cfg_->obstacles.obstacle_proximity_lower_bound); + ratio *= cfg_->obstacles.obstacle_proximity_ratio_max_vel; + + const double max_vel_fwd = ratio * cfg_->robot.max_vel_x; + const double max_omega = ratio * cfg_->robot.max_vel_theta; + _error[0] = penaltyBoundToInterval(vel, max_vel_fwd, 0); + _error[1] = penaltyBoundToInterval(omega, max_omega, 0); + + TEB_ASSERT_MSG(std::isfinite(_error[0]) || std::isfinite(_error[1]), "EdgeVelocityObstacleRatio::computeError() _error[0]=%f , _error[1]=%f\n",_error[0],_error[1]); + } + + /** + * @brief Set pointer to associated obstacle for the underlying cost function + * @param obstacle 2D position vector containing the position of the obstacle + */ + void setObstacle(const Obstacle* obstacle) + { + _measurement = obstacle; + } + + /** + * @brief Set pointer to the robot model + * @param robot_model Robot model required for distance calculation + */ + void setRobotModel(const BaseRobotFootprintModel* robot_model) + { + robot_model_ = robot_model; + } + + /** + * @brief Set all parameters at once + * @param cfg TebConfig class + * @param robot_model Robot model required for distance calculation + * @param obstacle 2D position vector containing the position of the obstacle + */ + void setParameters(const TebConfig& cfg, const BaseRobotFootprintModel* robot_model, const Obstacle* obstacle) + { + cfg_ = &cfg; + robot_model_ = robot_model; + _measurement = obstacle; + } + +protected: + + const BaseRobotFootprintModel* robot_model_; //!< Store pointer to robot_model + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + +} // end namespace + diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_via_point.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_via_point.h new file mode 100755 index 0000000..5575d0f --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/edge_via_point.h @@ -0,0 +1,121 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ +#ifndef EDGE_VIA_POINT_H_ +#define EDGE_VIA_POINT_H_ + +#include "teb_local_planner/g2o_types/vertex_pose.h" +#include "teb_local_planner/g2o_types/base_teb_edges.h" +#include "teb_local_planner/misc.h" + +#include "g2o/core/base_unary_edge.h" + + +namespace teb_local_planner +{ + +/** + * @class EdgeViaPoint + * @brief Edge defining the cost function for pushing a configuration towards a via point + * + * The edge depends on a single vertex \f$ \mathbf{s}_i \f$ and minimizes: \n + * \f$ \min dist2point \cdot weight \f$. \n + * \e dist2point denotes the distance to the via point. \n + * \e weight can be set using setInformation(). \n + * @see TebOptimalPlanner::AddEdgesViaPoints + * @remarks Do not forget to call setTebConfig() and setViaPoint() + */ +class EdgeViaPoint : public BaseTebUnaryEdge<1, const Eigen::Vector2d*, VertexPose> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeViaPoint() + { + _measurement = NULL; + } + + /** + * @brief Actual cost function + */ + void computeError() + { + TEB_ASSERT_MSG(cfg_ && _measurement, "You must call setTebConfig(), setViaPoint() on EdgeViaPoint()"); + const VertexPose* bandpt = static_cast(_vertices[0]); + + _error[0] = (bandpt->position() - *_measurement).norm(); + + TEB_ASSERT_MSG(std::isfinite(_error[0]), "EdgeViaPoint::computeError() _error[0]=%f\n",_error[0]); + } + + /** + * @brief Set pointer to associated via point for the underlying cost function + * @param via_point 2D position vector containing the position of the via point + */ + void setViaPoint(const Eigen::Vector2d* via_point) + { + _measurement = via_point; + } + + /** + * @brief Set all parameters at once + * @param cfg TebConfig class + * @param via_point 2D position vector containing the position of the via point + */ + void setParameters(const TebConfig& cfg, const Eigen::Vector2d* via_point) + { + cfg_ = &cfg; + _measurement = via_point; + } + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + + +} // end namespace + +#endif diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/penalties.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/penalties.h new file mode 100755 index 0000000..6870558 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/penalties.h @@ -0,0 +1,193 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef PENALTIES_H +#define PENALTIES_H + +#include +#include +#include + +namespace teb_local_planner +{ + +/** + * @brief Linear penalty function for bounding \c var to the interval \f$ -a < var < a \f$ + * @param var The scalar that should be bounded + * @param a lower and upper absolute bound + * @param epsilon safty margin (move bound to the interior of the interval) + * @see penaltyBoundToIntervalDerivative + * @return Penalty / cost value that is nonzero if the constraint is not satisfied + */ +inline double penaltyBoundToInterval(const double& var,const double& a,const double& epsilon) +{ + if (var < -a+epsilon) + { + return (-var - (a - epsilon)); + } + if (var <= a-epsilon) + { + return 0.; + } + else + { + return (var - (a - epsilon)); + } +} + +/** + * @brief Linear penalty function for bounding \c var to the interval \f$ a < var < b \f$ + * @param var The scalar that should be bounded + * @param a lower bound + * @param b upper bound + * @param epsilon safty margin (move bound to the interior of the interval) + * @see penaltyBoundToIntervalDerivative + * @return Penalty / cost value that is nonzero if the constraint is not satisfied + */ +inline double penaltyBoundToInterval(const double& var,const double& a, const double& b, const double& epsilon) +{ + if (var < a+epsilon) + { + return (-var + (a + epsilon)); + } + if (var <= b-epsilon) + { + return 0.; + } + else + { + return (var - (b - epsilon)); + } +} + + +/** + * @brief Linear penalty function for bounding \c var from below: \f$ a < var \f$ + * @param var The scalar that should be bounded + * @param a lower bound + * @param epsilon safty margin (move bound to the interior of the interval) + * @see penaltyBoundFromBelowDerivative + * @return Penalty / cost value that is nonzero if the constraint is not satisfied + */ +inline double penaltyBoundFromBelow(const double& var, const double& a,const double& epsilon) +{ + if (var >= a+epsilon) + { + return 0.; + } + else + { + return (-var + (a+epsilon)); + } +} + +/** + * @brief Derivative of the linear penalty function for bounding \c var to the interval \f$ -a < var < a \f$ + * @param var The scalar that should be bounded + * @param a lower and upper absolute bound + * @param epsilon safty margin (move bound to the interior of the interval) + * @see penaltyBoundToInterval + * @return Derivative of the penalty function w.r.t. \c var + */ +inline double penaltyBoundToIntervalDerivative(const double& var,const double& a, const double& epsilon) +{ + if (var < -a+epsilon) + { + return -1; + } + if (var <= a-epsilon) + { + return 0.; + } + else + { + return 1; + } +} + +/** + * @brief Derivative of the linear penalty function for bounding \c var to the interval \f$ a < var < b \f$ + * @param var The scalar that should be bounded + * @param a lower bound + * @param b upper bound + * @param epsilon safty margin (move bound to the interior of the interval) + * @see penaltyBoundToInterval + * @return Derivative of the penalty function w.r.t. \c var + */ +inline double penaltyBoundToIntervalDerivative(const double& var,const double& a, const double& b, const double& epsilon) +{ + if (var < a+epsilon) + { + return -1; + } + if (var <= b-epsilon) + { + return 0.; + } + else + { + return 1; + } +} + + +/** + * @brief Derivative of the linear penalty function for bounding \c var from below: \f$ a < var \f$ + * @param var The scalar that should be bounded + * @param a lower bound + * @param epsilon safty margin (move bound to the interior of the interval) + * @see penaltyBoundFromBelow + * @return Derivative of the penalty function w.r.t. \c var + */ +inline double penaltyBoundFromBelowDerivative(const double& var, const double& a,const double& epsilon) +{ + if (var >= a+epsilon) + { + return 0.; + } + else + { + return -1; + } +} + + +} // namespace teb_local_planner + + +#endif // PENALTIES_H diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/vertex_pose.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/vertex_pose.h new file mode 100755 index 0000000..781a272 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/vertex_pose.h @@ -0,0 +1,229 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef VERTEX_POSE_H_ +#define VERTEX_POSE_H_ + +#include +#include +#include +#include + +#include "teb_local_planner/pose_se2.h" + +namespace teb_local_planner +{ + +/** + * @class VertexPose + * @brief This class stores and wraps a SE2 pose (position and orientation) into a vertex that can be optimized via g2o + * @see PoseSE2 + * @see VertexTimeDiff + */ +class VertexPose : public g2o::BaseVertex<3, PoseSE2 > +{ +public: + + /** + * @brief Default constructor + * @param fixed if \c true, this vertex is considered fixed during optimization [default: \c false] + */ + VertexPose(bool fixed = false) + { + setToOriginImpl(); + setFixed(fixed); + } + + /** + * @brief Construct pose using a given PoseSE2 + * @param pose PoseSE2 defining the pose [x, y, angle_rad] + * @param fixed if \c true, this vertex is considered fixed during optimization [default: \c false] + */ + VertexPose(const PoseSE2& pose, bool fixed = false) + { + _estimate = pose; + setFixed(fixed); + } + + /** + * @brief Construct pose using a given 2D position vector and orientation + * @param position Eigen::Vector2d containing x and y coordinates + * @param theta yaw-angle + * @param fixed if \c true, this vertex is considered fixed during optimization [default: \c false] + */ + VertexPose(const Eigen::Ref& position, double theta, bool fixed = false) + { + _estimate.position() = position; + _estimate.theta() = theta; + setFixed(fixed); + } + + /** + * @brief Construct pose using single components x, y, and the yaw angle + * @param x x-coordinate + * @param y y-coordinate + * @param theta yaw angle in rad + * @param fixed if \c true, this vertex is considered fixed during optimization [default: \c false] + */ + VertexPose(double x, double y, double theta, bool fixed = false) + { + _estimate.x() = x; + _estimate.y() = y; + _estimate.theta() = theta; + setFixed(fixed); + } + + /** + * @brief Access the pose + * @see estimate + * @return reference to the PoseSE2 estimate + */ + inline PoseSE2& pose() {return _estimate;} + + /** + * @brief Access the pose (read-only) + * @see estimate + * @return const reference to the PoseSE2 estimate + */ + inline const PoseSE2& pose() const {return _estimate;} + + + /** + * @brief Access the 2D position part + * @see estimate + * @return reference to the 2D position part + */ + inline Eigen::Vector2d& position() {return _estimate.position();} + + /** + * @brief Access the 2D position part (read-only) + * @see estimate + * @return const reference to the 2D position part + */ + inline const Eigen::Vector2d& position() const {return _estimate.position();} + + /** + * @brief Access the x-coordinate the pose + * @return reference to the x-coordinate + */ + inline double& x() {return _estimate.x();} + + /** + * @brief Access the x-coordinate the pose (read-only) + * @return const reference to the x-coordinate + */ + inline const double& x() const {return _estimate.x();} + + /** + * @brief Access the y-coordinate the pose + * @return reference to the y-coordinate + */ + inline double& y() {return _estimate.y();} + + /** + * @brief Access the y-coordinate the pose (read-only) + * @return const reference to the y-coordinate + */ + inline const double& y() const {return _estimate.y();} + + /** + * @brief Access the orientation part (yaw angle) of the pose + * @return reference to the yaw angle + */ + inline double& theta() {return _estimate.theta();} + + /** + * @brief Access the orientation part (yaw angle) of the pose (read-only) + * @return const reference to the yaw angle + */ + inline const double& theta() const {return _estimate.theta();} + + /** + * @brief Set the underlying estimate (2D vector) to zero. + */ + virtual void setToOriginImpl() override + { + _estimate.setZero(); + } + + /** + * @brief Define the update increment \f$ \mathbf{x}_{k+1} = \mathbf{x}_k + \Delta \mathbf{x} \f$. + * A simple addition for the position. + * The angle is first added to the previous estimated angle and afterwards normalized to the interval \f$ [-\pi \pi] \f$ + * @param update increment that should be added to the previous esimate + */ + virtual void oplusImpl(const double* update) override + { + _estimate.plus(update); + } + + /** + * @brief Read an estimate from an input stream. + * First the x-coordinate followed by y and the yaw angle. + * @param is input stream + * @return always \c true + */ + virtual bool read(std::istream& is) override + { + is >> _estimate.x() >> _estimate.y() >> _estimate.theta(); + return true; + } + + /** + * @brief Write the estimate to an output stream + * First the x-coordinate followed by y and the yaw angle. + * @param os output stream + * @return \c true if the export was successful, otherwise \c false + */ + virtual bool write(std::ostream& os) const override + { + os << _estimate.x() << " " << _estimate.y() << " " << _estimate.theta(); + return os.good(); + } + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +} + +#endif // VERTEX_POSE_H_ diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/vertex_timediff.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/vertex_timediff.h new file mode 100755 index 0000000..4eead6c --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/g2o_types/vertex_timediff.h @@ -0,0 +1,145 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef VERTEX_TIMEDIFF_H +#define VERTEX_TIMEDIFF_H + + +#include "g2o/config.h" +#include "g2o/core/base_vertex.h" +#include "g2o/core/hyper_graph_action.h" + +#include + +namespace teb_local_planner +{ + +/** + * @class VertexTimeDiff + * @brief This class stores and wraps a time difference \f$ \Delta T \f$ into a vertex that can be optimized via g2o + */ +class VertexTimeDiff : public g2o::BaseVertex<1, double> +{ +public: + + /** + * @brief Default constructor + * @param fixed if \c true, this vertex is considered fixed during optimization [default: \c false] + */ + VertexTimeDiff(bool fixed = false) + { + setToOriginImpl(); + setFixed(fixed); + } + + /** + * @brief Construct the TimeDiff vertex with a value + * @param dt time difference value of the vertex + * @param fixed if \c true, this vertex is considered fixed during optimization [default: \c false] + */ + VertexTimeDiff(double dt, bool fixed = false) + { + _estimate = dt; + setFixed(fixed); + } + + /** + * @brief Access the timediff value of the vertex + * @see estimate + * @return reference to dt + */ + inline double& dt() {return _estimate;} + + /** + * @brief Access the timediff value of the vertex (read-only) + * @see estimate + * @return const reference to dt + */ + inline const double& dt() const {return _estimate;} + + /** + * @brief Set the underlying TimeDiff estimate \f$ \Delta T \f$ to default. + */ + virtual void setToOriginImpl() override + { + _estimate = 0.1; + } + + /** + * @brief Define the update increment \f$ \Delta T_{k+1} = \Delta T_k + update \f$. + * A simple addition implements what we want. + * @param update increment that should be added to the previous esimate + */ + virtual void oplusImpl(const double* update) override + { + _estimate += *update; + } + + /** + * @brief Read an estimate of \f$ \Delta T \f$ from an input stream + * @param is input stream + * @return always \c true + */ + virtual bool read(std::istream& is) override + { + is >> _estimate; + return true; + } + + /** + * @brief Write the estimate \f$ \Delta T \f$ to an output stream + * @param os output stream + * @return \c true if the export was successful, otherwise \c false + */ + virtual bool write(std::ostream& os) const override + { + os << estimate(); + return os.good(); + } + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +} + +#endif diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/graph_search.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/graph_search.h new file mode 100644 index 0000000..3c4bd7c --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/graph_search.h @@ -0,0 +1,215 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Authors: Christoph Rösmann, Franz Albers + *********************************************************************/ + +#ifndef GRAPH_SEARCH_INTERFACE_H +#define GRAPH_SEARCH_INTERFACE_H + +#ifdef BOOST_NO_CXX11_DEFAULTED_FUNCTIONS + #include +#else + // Workaround for a bug in boost graph library (concerning directed graphs), boost version 1.48: + // boost::add_vertex requires a move constructor/assignment operator in one of the underlying boost objects if C++11 is activated, + // but they are missing. The compiler fails due to an implicit deletion. We just deactivate C++11 default functions for now. + #define BOOST_NO_CXX11_DEFAULTED_FUNCTIONS + #include + #undef BOOST_NO_CXX11_DEFAULTED_FUNCTIONS +#endif + +#include +#include +#include +#include + +#include + +#include + +#include "teb_local_planner/equivalence_relations.h" +#include "teb_local_planner/pose_se2.h" +#include "teb_local_planner/teb_config.h" + +namespace teb_local_planner +{ + +class HomotopyClassPlanner; // Forward declaration + +//! Vertex in the graph that is used to find homotopy classes (only stores 2D positions) +struct HcGraphVertex +{ +public: + Eigen::Vector2d pos; // position of vertices in the map + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +//! Abbrev. for the homotopy class search-graph type @see HcGraphVertex +typedef boost::adjacency_list < boost::listS, boost::vecS, boost::directedS, HcGraphVertex, boost::no_property > HcGraph; +//! Abbrev. for vertex type descriptors in the homotopy class search-graph +typedef boost::graph_traits::vertex_descriptor HcGraphVertexType; +//! Abbrev. for edge type descriptors in the homotopy class search-graph +typedef boost::graph_traits::edge_descriptor HcGraphEdgeType; +//! Abbrev. for the vertices iterator of the homotopy class search-graph +typedef boost::graph_traits::vertex_iterator HcGraphVertexIterator; +//! Abbrev. for the edges iterator of the homotopy class search-graph +typedef boost::graph_traits::edge_iterator HcGraphEdgeIterator; +//! Abbrev. for the adjacency iterator that iterates vertices that are adjecent to the specified one +typedef boost::graph_traits::adjacency_iterator HcGraphAdjecencyIterator; + +//!< Inline function used for calculateHSignature() in combination with HCP graph vertex descriptors +inline std::complex getCplxFromHcGraph(HcGraphVertexType vert_descriptor, const HcGraph& graph) +{ + return std::complex(graph[vert_descriptor].pos.x(), graph[vert_descriptor].pos.y()); +} + +//!< Inline function used for initializing the TEB in combination with HCP graph vertex descriptors +inline const Eigen::Vector2d& getVector2dFromHcGraph(HcGraphVertexType vert_descriptor, const HcGraph& graph) +{ + return graph[vert_descriptor].pos; +} + +/** + * @brief Base class for graph based path planning / homotopy class sampling + */ +class GraphSearchInterface +{ +public: + + virtual void createGraph(const PoseSE2& start, const PoseSE2& goal, double dist_to_obst, double obstacle_heading_threshold, const geometry_msgs::msg::Twist* start_velocity, bool free_goal_vel = false) = 0; + + /** + * @brief Clear any existing graph of the homotopy class search + */ + void clearGraph() {graph_.clear();} + + // HcGraph graph() const {return graph_;} + // Workaround. graph_ is public for now, beacuse otherwise the compilation fails with the same boost bug mentioned above. + HcGraph graph_; //!< Store the graph that is utilized to find alternative homotopy classes. + +protected: + /** + * @brief Protected constructor that should be called by subclasses + */ + GraphSearchInterface(const TebConfig& cfg, HomotopyClassPlanner* hcp) : cfg_(&cfg), hcp_(hcp){} + + /** + * @brief Depth First Search implementation to find all paths between the start and the specified goal vertex. + * + * Complete paths are stored to the internal path container. + * @sa http://www.technical-recipes.com/2011/a-recursive-algorithm-to-find-all-paths-between-two-given-nodes/ + * @param g Graph on which the depth first should be performed + * @param visited A container that stores visited vertices (pass an empty container, it will be filled inside during recursion). + * @param goal Desired goal vertex + * @param start_orientation Orientation of the first trajectory pose, required to initialize the trajectory/TEB + * @param goal_orientation Orientation of the goal trajectory pose, required to initialize the trajectory/TEB + * @param start_velocity start velocity (optional) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, otherwise the final velocity will be zero (default: false) + */ + + void DepthFirst(HcGraph& g, std::vector& visited, const HcGraphVertexType& goal, double start_orientation, double goal_orientation, const geometry_msgs::msg::Twist* start_velocity, bool free_goal_vel = false); + +protected: + const TebConfig* cfg_; //!< Config class that stores and manages all related parameters + HomotopyClassPlanner* const hcp_; //!< Raw pointer to the HomotopyClassPlanner. The HomotopyClassPlanner itself is guaranteed to outlive the graph search class it is holding. + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + + +class lrKeyPointGraph : public GraphSearchInterface +{ +public: + lrKeyPointGraph(const TebConfig& cfg, HomotopyClassPlanner* hcp) : GraphSearchInterface(cfg, hcp){} + + virtual ~lrKeyPointGraph(){} + + /** + * @brief Create a graph containing points in the global frame that can be used to explore new possible paths between start and goal. + * + * This version of the graph creation places a keypoint on the left and right side of each obstacle w.r.t to the goal heading. \n + * All feasible paths between start and goal point are extracted using a Depth First Search afterwards. \n + * This version works very well for small point obstacles. For more complex obstacles call the createProbRoadmapGraph() + * method that samples keypoints in a predefined area and hopefully finds all relevant alternative paths. + * + * @see createProbRoadmapGraph + * @param start Start pose from wich to start on (e.g. the current robot pose). + * @param goal Goal pose to find paths to (e.g. the robot's goal). + * @param dist_to_obst Allowed distance to obstacles: if not satisfying, the path will be rejected (note, this is not the distance used for optimization). + * @param obstacle_heading_threshold Value of the normalized scalar product between obstacle heading and goal heading in order to take them (obstacles) into account [0,1] + * @param start_velocity start velocity (optional) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, otherwise the final velocity will be zero (default: false) + */ + virtual void createGraph(const PoseSE2& start, const PoseSE2& goal, double dist_to_obst, double obstacle_heading_threshold, const geometry_msgs::msg::Twist* start_velocity, bool free_goal_vel = false); +}; + + + + +class ProbRoadmapGraph : public GraphSearchInterface +{ +public: + ProbRoadmapGraph(const TebConfig& cfg, HomotopyClassPlanner* hcp) : GraphSearchInterface(cfg, hcp){} + + virtual ~ProbRoadmapGraph(){} + + + /** + * @brief Create a graph and sample points in the global frame that can be used to explore new possible paths between start and goal. + * + * This version of the graph samples keypoints in a predefined area (config) in the current frame between start and goal. \n + * Afterwards all feasible paths between start and goal point are extracted using a Depth First Search. \n + * Use the sampling method for complex, non-point or huge obstacles. \n + * You may call createGraph() instead. + * + * @see createGraph + * @param start Start pose from wich to start on (e.g. the current robot pose). + * @param goal Goal pose to find paths to (e.g. the robot's goal). + * @param dist_to_obst Allowed distance to obstacles: if not satisfying, the path will be rejected (note, this is not the distance used for optimization). + * @param no_samples number of random samples + * @param obstacle_heading_threshold Value of the normalized scalar product between obstacle heading and goal heading in order to take them (obstacles) into account [0,1] + * @param start_velocity start velocity (optional) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, otherwise the final velocity will be zero (default: false) + */ + virtual void createGraph(const PoseSE2& start, const PoseSE2& goal, double dist_to_obst, double obstacle_heading_threshold, const geometry_msgs::msg::Twist* start_velocity, bool free_goal_vel = false); + +private: + boost::random::mt19937 rnd_generator_; //!< Random number generator used by createProbRoadmapGraph to sample graph keypoints. +}; +} // end namespace + +#endif // GRAPH_SEARCH_INTERFACE_H diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/h_signature.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/h_signature.h new file mode 100644 index 0000000..8a11f0f --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/h_signature.h @@ -0,0 +1,432 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Authors: Christoph Rösmann, Franz Albers + *********************************************************************/ + +#ifndef H_SIGNATURE_H_ +#define H_SIGNATURE_H_ + +#include + +#include "teb_local_planner/equivalence_relations.h" +#include "teb_local_planner/misc.h" +#include "teb_local_planner/obstacles.h" +#include "teb_local_planner/teb_config.h" +#include "teb_local_planner/timed_elastic_band.h" + +#include +#include +#include +#include +#include +#include + + +namespace teb_local_planner +{ + +/** + * @brief The H-signature defines an equivalence relation based on homology in terms of complex calculus. + * + * The H-Signature depends on the obstacle configuration and can be utilized + * to check whether two trajectores belong to the same homology class. + * Refer to: \n + * - S. Bhattacharya et al.: Search-based Path Planning with Homotopy Class Constraints, AAAI, 2010 + */ +class HSignature : public EquivalenceClass +{ + +public: + + /** + * @brief Constructor accepting a TebConfig + * @param cfg TebConfig storing some user configuration options + */ + HSignature(const TebConfig& cfg) : cfg_(&cfg) {} + + + /** + * @brief Calculate the H-Signature of a path + * + * The implemented function accepts generic path descriptions that are restricted to the following structure: \n + * The path is composed of points T and is represented by a std::vector< T > or similar type (std::list, std::deque, ...). \n + * Provide a unary function with the following signature std::complex< long double > (const T& point_type) + * that returns a complex value for the position (Re(*)=x, Im(*)=y). + * + * T could also be a pointer type, if the passed function also accepts a const T* point_Type. + * + * @param path_start Iterator to the first element in the path + * @param path_end Iterator to the last element in the path + * @param obstacles obstacle container + * @param fun_cplx_point function accepting the dereference iterator type and that returns the position as complex number. + * @tparam BidirIter Bidirectional iterator type + * @tparam Fun function of the form std::complex< long double > (const T& point_type) + */ + template + void calculateHSignature(BidirIter path_start, BidirIter path_end, Fun fun_cplx_point, const ObstContainer* obstacles) + { + if (obstacles->empty()) + { + hsignature_ = std::complex(0,0); + return; + } + + + TEB_ASSERT_MSG(cfg_->hcp.h_signature_prescaler>0.1 && cfg_->hcp.h_signature_prescaler<=1, "Only a prescaler on the interval (0.1,1] ist allowed."); + + // guess values for f0 + // paper proposes a+b=N-1 && |a-b|<=1, 1...N obstacles + int m = std::max( (int)obstacles->size()-1, 5 ); // for only a few obstacles we need a min threshold in order to get significantly high H-Signatures + + int a = (int) std::ceil(double(m)/2.0); + int b = m-a; + + std::advance(path_end, -1); // reduce path_end by 1 (since we check line segments between those path points + + typedef std::complex cplx; + // guess map size (only a really really coarse guess is required + // use distance from start to goal as distance to each direction + // TODO: one could move the map determination outside this function, since it remains constant for the whole planning interval + cplx start = fun_cplx_point(*path_start); + cplx end = fun_cplx_point(*path_end); // path_end points to the last point now after calling std::advance before + cplx delta = end-start; + cplx normal(-delta.imag(), delta.real()); + cplx map_bottom_left; + cplx map_top_right; + if (std::abs(delta) < 3.0) + { // set minimum bound on distance (we do not want to have numerical instabilities) and 3.0 performs fine... + map_bottom_left = start + cplx(0, -3); + map_top_right = start + cplx(3, 3); + } + else + { + map_bottom_left = start - normal; + map_top_right = start + delta + normal; + } + + hsignature_ = 0; // reset local signature + + std::vector imag_proposals(5); + + // iterate path + while(path_start != path_end) + { + cplx z1 = fun_cplx_point(*path_start); + cplx z2 = fun_cplx_point(*std::next(path_start)); + + for (std::size_t l=0; lsize(); ++l) // iterate all obstacles + { + cplx obst_l = obstacles->at(l)->getCentroidCplx(); + //cplx f0 = (long double) prescaler * std::pow(obst_l-map_bottom_left,a) * std::pow(obst_l-map_top_right,b); + cplx f0 = (long double) cfg_->hcp.h_signature_prescaler * (long double)a*(obst_l-map_bottom_left) * (long double)b*(obst_l-map_top_right); + + // denum contains product with all obstacles exepct j==l + cplx Al = f0; + for (std::size_t j=0; jsize(); ++j) + { + if (j==l) + continue; + cplx obst_j = obstacles->at(j)->getCentroidCplx(); + cplx diff = obst_l - obst_j; + //if (diff.real()!=0 || diff.imag()!=0) + if (std::abs(diff)<0.05) // skip really close obstacles + continue; + else + Al /= diff; + } + // compute log value + double diff2 = std::abs(z2-obst_l); + double diff1 = std::abs(z1-obst_l); + if (diff2 == 0 || diff1 == 0) + continue; + double log_real = std::log(diff2)-std::log(diff1); + // complex ln has more than one solution -> choose minimum abs angle -> paper + double arg_diff = std::arg(z2-obst_l)-std::arg(z1-obst_l); + imag_proposals.at(0) = arg_diff; + imag_proposals.at(1) = arg_diff+2*M_PI; + imag_proposals.at(2) = arg_diff-2*M_PI; + imag_proposals.at(3) = arg_diff+4*M_PI; + imag_proposals.at(4) = arg_diff-4*M_PI; + double log_imag = *std::min_element(imag_proposals.begin(),imag_proposals.end(),smaller_than_abs); + cplx log_value(log_real,log_imag); + //cplx log_value = std::log(z2-obst_l)-std::log(z1-obst_l); // the principal solution doesn't seem to work + hsignature_ += Al*log_value; + } + ++path_start; + } + } + + + /** + * @brief Check if two candidate classes are equivalent + * @param other The other equivalence class to test with + */ + virtual bool isEqual(const EquivalenceClass& other) const + { + const HSignature* hother = dynamic_cast(&other); // TODO: better architecture without dynamic_cast + if (hother) + { + double diff_real = std::abs(hother->hsignature_.real() - hsignature_.real()); + double diff_imag = std::abs(hother->hsignature_.imag() - hsignature_.imag()); + if (diff_real<=cfg_->hcp.h_signature_threshold && diff_imag<=cfg_->hcp.h_signature_threshold) + return true; // Found! Homotopy class already exists, therefore nothing added + } + else + RCLCPP_ERROR(rclcpp::get_logger("teb_local_planner"), "Cannot compare HSignature equivalence classes with types other than HSignature."); + + return false; + } + + /** + * @brief Check if the equivalence value is detected correctly + * @return Returns false, if the equivalence class detection failed, e.g. if nan- or inf values occur. + */ + virtual bool isValid() const + { + return std::isfinite(hsignature_.real()) && std::isfinite(hsignature_.imag()); + } + + /** + * @brief Check if the trajectory is non-looping around an obstacle. + * @return Returns always true, as this cannot be detected by this kind of H-Signature. + */ + virtual bool isReasonable() const + { + return true; + } + + /** + * @brief Get the current value of the h-signature (read-only) + * @return h-signature in complex-number format + */ + const std::complex& value() const {return hsignature_;} + + +private: + + const TebConfig* cfg_; + std::complex hsignature_; +}; + + + + + +/** + * @brief The H-signature in three dimensions (here: x-y-t) defines an equivalence relation based on homology using theorems from electro magnetism. + * + * The H-Signature depends on the obstacle configuration and can be utilized + * to check whether two trajectores belong to the same homology class. + * Refer to: \n + * - S. Bhattacharya et al.: Identification and Representation of Homotopy Classes of Trajectories for Search-based Path Planning in 3D, 2011 + */ +class HSignature3d : public EquivalenceClass +{ +public: + /** + * @brief Constructor accepting a TebConfig + * @param cfg TebConfig storing some user configuration options + */ + HSignature3d(const TebConfig& cfg) : cfg_(&cfg) {} + + + /** + * @brief Calculate the H-Signature of a path + * + * The implemented function accepts generic path descriptions that are restricted to the following structure: \n + * The path is composed of points T and is represented by a std::vector< T > or similar type (std::list, std::deque, ...). \n + * Provide a unary function with the following signature std::complex< long double > (const T& point_type) + * that returns a complex value for the position (Re(*)=x, Im(*)=y). + * + * T could also be a pointer type, if the passed function also accepts a const T* point_Type. + * + * @param path_start Iterator to the first element in the path + * @param path_end Iterator to the last element in the path + * @param obstacles obstacle container + * @param fun_cplx_point function accepting the dereference iterator type and that returns the position as complex number. + * @tparam BidirIter Bidirectional iterator type + * @tparam Fun function of the form std::complex< long double > (const T& point_type) + */ + template + void calculateHSignature(BidirIter path_start, BidirIter path_end, Fun fun_cplx_point, const ObstContainer* obstacles, + boost::optional timediff_start, boost::optional timediff_end) + { + hsignature3d_.resize(obstacles->size()); + + std::advance(path_end, -1); // reduce path_end by 1 (since we check line segments between those path points) + + constexpr int num_int_steps_per_segment = 10; + + for (std::size_t l = 0; l < obstacles->size(); ++l) // iterate all obstacles + { + double H = 0; + double transition_time = 0; + double next_transition_time = 0; + BidirIter path_iter; + TimeDiffSequence::iterator timediff_iter; + + Eigen::Vector3d s1 (obstacles->at(l)->getCentroid()(0), obstacles->at(l)->getCentroid()(1), 0); + double t = 120; // some large value for defining the end point of the obstacle/"conductor" model + Eigen::Vector3d s2; + obstacles->at(l)->predictCentroidConstantVelocity(t, s2.head(2)); + s2[2] = t; + Eigen::Vector3d ds = s2 - s1; + double ds_sq_norm = ds.squaredNorm(); // by definition not zero as t > 0 (3rd component) + + // iterate path + for (path_iter = path_start, timediff_iter = timediff_start.get(); path_iter != path_end; ++path_iter, ++timediff_iter) + { + std::complex z1 = fun_cplx_point(*path_iter); + std::complex z2 = fun_cplx_point(*std::next(path_iter)); + + transition_time = next_transition_time; + if (timediff_start == boost::none || timediff_end == boost::none) // if no time information is provided yet, approximate transition time + next_transition_time += std::abs(z2 - z1) / cfg_->robot.max_vel_x; // Approximate the time, if no time is known + else // otherwise use the time information from the teb trajectory + { + if (std::distance(path_iter, path_end) != std::distance(timediff_iter, timediff_end.get())) { + RCLCPP_ERROR(rclcpp::get_logger("teb_local_planner"), "Size of poses and timediff vectors does not match. This is a bug."); + } + next_transition_time += (*timediff_iter)->dt(); + } + + Eigen::Vector3d direction_vec; + direction_vec[0] = z2.real() - z1.real(); + direction_vec[1] = z2.imag() - z1.imag(); + direction_vec[2] = next_transition_time - transition_time; + + if(direction_vec.norm() < 1e-15) // Coincident poses + continue; + + Eigen::Vector3d r(z1.real(), z1.imag(), transition_time); + Eigen::Vector3d dl = 1.0/static_cast(num_int_steps_per_segment) * direction_vec; // Integrate with multiple steps between each pose + Eigen::Vector3d p1, p2, d, phi; + for (int i = 0; i < num_int_steps_per_segment; ++i, r += dl) + { + p1 = s1 - r; + p2 = s2 - r; + d = (ds.cross(p1.cross(p2))) / ds_sq_norm; + phi = 1.0 / d.squaredNorm() * ((d.cross(p2) / p2.norm()) - (d.cross(p1) / p1.norm())); + H += phi.dot(dl); + } + } + + // normalize to 1 + hsignature3d_.at(l) = H/(4.0*M_PI); + } + } + + /** + * @brief Check if two candidate classes are equivalent + * + * If the absolute value of the H-Signature is equal or greater than 1, a loop (in x-y) around the obstacle is indicated. + * Positive H-Signature: Obstacle lies on the left hand side of the planned trajectory + * Negative H-Signature: Obstacle lies on the right hand side of the planned trajectory + * H-Signature equals zero: Obstacle lies in infinity, has no influence on trajectory + * + * @param other The other equivalence class to test with + */ + virtual bool isEqual(const EquivalenceClass& other) const + { + const HSignature3d* hother = dynamic_cast(&other); // TODO: better architecture without dynamic_cast + if (hother) + { + if (hsignature3d_.size() == hother->hsignature3d_.size()) + { + for(size_t i = 0; i < hsignature3d_.size(); ++i) + { + // If the H-Signature for one obstacle is below this threshold, that obstacle is far away from the planned trajectory, + // and therefore ignored in the homotopy class planning + if (std::abs(hother->hsignature3d_.at(i)) < cfg_->hcp.h_signature_threshold || std::abs(hsignature3d_.at(i)) < cfg_->hcp.h_signature_threshold) + continue; + + if (boost::math::sign(hother->hsignature3d_.at(i)) != boost::math::sign(hsignature3d_.at(i))) + return false; // Signatures are not equal, new homotopy class + } + return true; // Found! Homotopy class already exists, therefore nothing added + } + } + else { + RCLCPP_ERROR(rclcpp::get_logger("teb_local_planner"), "Cannot compare HSignature3d equivalence classes with types other than HSignature3d."); + } + + return false; + } + + /** + * @brief Check if the equivalence value is detected correctly + * @return Returns false, if the equivalence class detection failed, e.g. if nan- or inf values occur. + */ + virtual bool isValid() const + { + for(const double& value : hsignature3d_) + { + if (!std::isfinite(value)) + return false; + } + return true; + } + + /** + * @brief Check if the trajectory is non-looping around any obstacle. Values greater than 1 indicate a looping trajectory. + * @return Returns false, if the trajectory loops around an obstacle + */ + virtual bool isReasonable() const + { + for(const double& value : hsignature3d_) + { + if (value > 1.0) + return false; + } + return true; + } + + /** + * @brief Get the current h-signature (read-only) + * @return h-signature in complex-number format + */ + const std::vector& values() const {return hsignature3d_;} + +private: + const TebConfig* cfg_; + std::vector hsignature3d_; +}; + + +} // namespace teb_local_planner + + +#endif /* H_SIGNATURE_H_ */ diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/homotopy_class_planner.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/homotopy_class_planner.h new file mode 100644 index 0000000..841e630 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/homotopy_class_planner.h @@ -0,0 +1,591 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef HOMOTOPY_CLASS_PLANNER_H_ +#define HOMOTOPY_CLASS_PLANNER_H_ + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include + +#include "teb_local_planner/planner_interface.h" +#include "teb_local_planner/teb_config.h" +#include "teb_local_planner/obstacles.h" +#include "teb_local_planner/optimal_planner.h" +#include "teb_local_planner/visualization.h" +#include "teb_local_planner/robot_footprint_model.h" +#include "teb_local_planner/equivalence_relations.h" +#include "teb_local_planner/graph_search.h" + + +namespace teb_local_planner +{ + +//!< Inline function used for calculateHSignature() in combination with VertexPose pointers +inline std::complex getCplxFromVertexPosePtr(const VertexPose* pose) +{ + return std::complex(pose->x(), pose->y()); +}; + + +//!< Inline function used for calculateHSignature() in combination with geometry_msgs::msg::PoseStamped +inline std::complex getCplxFromMsgPoseStamped(const geometry_msgs::msg::PoseStamped& pose) +{ + return std::complex(pose.pose.position.x, pose.pose.position.y); +}; + +/** + * @class HomotopyClassPlanner + * @brief Local planner that explores alternative homotopy classes, create a plan for each alternative + * and finally return the robot controls for the current best path (repeated in each sampling interval) + * + * Equivalence classes (e.g. homotopy) are explored using the help of a search-graph. \n + * A couple of possible candidates are sampled / generated and filtered afterwards such that only a single candidate + * per homotopy class remain. Filtering is applied using the H-Signature, a homotopy (resp. homology) invariant: \n + * - S. Bhattacharya et al.: Search-based Path Planning with Homotopy Class Constraints, AAAI, 2010 + * - C. Rösmann et al.: Planning of Multiple Robot Trajectories in Distinctive Topologies, ECMR, 2015. + * + * Followed by the homotopy class search, each candidate is used as an initialization for the underlying trajectory + * optimization (in this case utilizing the TebOptimalPlanner class with the TimedElasticBand). \n + * Depending on the config parameters, the optimization is performed in parallel. \n + * After the optimization is completed, the best optimized candidate is selected w.r.t. to trajectory cost, since the + * cost already contains important features like clearance from obstacles and transition time. \n + * + * Everyhting is performed by calling one of the overloaded plan() methods. \n + * Afterwards the velocity command to control the robot is obtained from the "best" candidate + * via getVelocityCommand(). \n + * + * All steps are repeated in the subsequent sampling interval with the exception, that already planned (optimized) trajectories + * are preferred against new path initilizations in order to improve the hot-starting capability. + */ +class HomotopyClassPlanner : public PlannerInterface +{ +public: + + using EquivalenceClassContainer = std::vector< std::pair >; + + /** + * @brief Default constructor + */ + HomotopyClassPlanner(); + + /** + * @brief Construct and initialize the HomotopyClassPlanner + * @param node Shared pointer for rclcpp::Node + * @param cfg Const reference to the TebConfig class for internal parameters + * @param obstacles Container storing all relevant obstacles (see Obstacle) + * @param robot_model Shared pointer to the robot shape model used for optimization (optional) + * @param visualization Shared pointer to the TebVisualization class (optional) + * @param via_points Container storing via-points (optional) + */ + HomotopyClassPlanner(nav2_util::LifecycleNode::SharedPtr node, const TebConfig& cfg, ObstContainer* obstacles = NULL, + TebVisualizationPtr visualization = TebVisualizationPtr(), const ViaPointContainer* via_points = NULL); + + /** + * @brief Destruct the HomotopyClassPlanner. + */ + virtual ~HomotopyClassPlanner(); + + /** + * @brief Initialize the HomotopyClassPlanner + * @param node Shared pointer for rclcpp::Node + * @param cfg Const reference to the TebConfig class for internal parameters + * @param obstacles Container storing all relevant obstacles (see Obstacle) + * @param visualization Shared pointer to the TebVisualization class (optional) + * @param via_points Container storing via-points (optional) + */ + void initialize(nav2_util::LifecycleNode::SharedPtr node, const TebConfig& cfg, ObstContainer* obstacles = NULL, + TebVisualizationPtr visualization = TebVisualizationPtr(), const ViaPointContainer* via_points = NULL); + + /** @name Plan a trajectory */ + //@{ + + /** + * @brief Plan a trajectory based on an initial reference plan. + * + * Provide this method to create and optimize a trajectory that is initialized + * according to an initial reference plan (given as a container of poses). + * @warning The current implementation extracts only the start and goal pose and calls the overloaded plan() + * @param initial_plan vector of geometry_msgs::msg::PoseStamped (must be valid until clearPlanner() is called!) + * @param start_vel Current start velocity (e.g. the velocity of the robot, only linear.x, linear.y (holonomic) and angular.z are used) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, + * otherwise the final velocity will be zero (default: false) + * @return \c true if planning was successful, \c false otherwise + */ + virtual bool plan(const std::vector& initial_plan, const geometry_msgs::msg::Twist* start_vel = NULL, bool free_goal_vel=false); + + /** + * @brief Plan a trajectory between a given start and goal pose (tf::Pose version). + * + * Provide this method to create and optimize a trajectory that is initialized between a given start and goal pose. + * @param start tf::Pose containing the start pose of the trajectory + * @param goal tf::Pose containing the goal pose of the trajectory + * @param start_vel Current start velocity (e.g. the velocity of the robot, only linear.x, linear.y (holonomic) and angular.z are used) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, + * otherwise the final velocity will be zero (default: false) + * @return \c true if planning was successful, \c false otherwise + */ + // tf2 doesn't have tf::Pose +// virtual bool plan(const tf::Pose& start, const tf::Pose& goal, const geometry_msgs::msg::Twist* start_vel = NULL, bool free_goal_vel=false); + + /** + * @brief Plan a trajectory between a given start and goal pose. + * + * Provide this method to create and optimize a trajectory that is initialized between a given start and goal pose. + * @param start PoseSE2 containing the start pose of the trajectory + * @param goal PoseSE2 containing the goal pose of the trajectory + * @param start_vel Initial velocity at the start pose (twist message containing the translational and angular velocity). + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, + * otherwise the final velocity will be zero (default: false) + * @return \c true if planning was successful, \c false otherwise + */ + virtual bool plan(const PoseSE2& start, const PoseSE2& goal, const geometry_msgs::msg::Twist* start_vel = NULL, bool free_goal_vel=false); + + /** + * @brief Get the velocity command from a previously optimized plan to control the robot at the current sampling interval. + * @warning Call plan() first and check if the generated plan is feasible. + * @param[out] vx translational velocity [m/s] + * @param[out] vy strafing velocity which can be nonzero for holonomic robots [m/s] + * @param[out] omega rotational velocity [rad/s] + * @param[in] look_ahead_poses index of the final pose used to compute the velocity command. + * @return \c true if command is valid, \c false otherwise + */ + virtual bool getVelocityCommand(double& vx, double& vy, double& omega, int look_ahead_poses) const; + + /** + * @brief Access current best trajectory candidate (that relates to the "best" homotopy class). + * + * If no trajectory is available, the pointer will be empty. + * If only a single trajectory is available, return it. + * Otherwise return the best one, but call selectBestTeb() before to perform the actual selection (part of the plan() methods). + * @return Shared pointer to the best TebOptimalPlanner that contains the selected trajectory (TimedElasticBand). + */ + TebOptimalPlannerPtr bestTeb() const {return tebs_.empty() ? TebOptimalPlannerPtr() : tebs_.size()==1 ? tebs_.front() : best_teb_;} + + /** + * @brief Check whether the planned trajectory is feasible or not. + * + * This method currently checks only that the trajectory, or a part of the trajectory is collision free. + * Obstacles are here represented as costmap instead of the internal ObstacleContainer. + * @param costmap_model Pointer to the costmap model + * @param footprint_spec The specification of the footprint of the robot in world coordinates + * @param inscribed_radius The radius of the inscribed circle of the robot + * @param circumscribed_radius The radius of the circumscribed circle of the robot + * @param look_ahead_idx Number of poses along the trajectory that should be verified, if -1, the complete trajectory will be checked. + * @return \c true, if the robot footprint along the first part of the trajectory intersects with + * any obstacle in the costmap, \c false otherwise. + */ + virtual bool isTrajectoryFeasible(dwb_critics::ObstacleFootprintCritic* costmap_model, const std::vector& footprint_spec, + double inscribed_radius = 0.0, double circumscribed_radius=0.0, int look_ahead_idx=-1, double feasibility_check_lookahead_distance=-1.0); + + /** + * @brief In case of empty best teb, scores again the available plans to find the best one. + * The best_teb_ variable is updated consequently. + * @return Shared pointer to the best TebOptimalPlanner that contains the selected trajectory (TimedElasticBand). + * An empty pointer is returned if no plan is available. + */ + TebOptimalPlannerPtr findBestTeb(); + + /** + * @brief Removes the specified teb and the corresponding homotopy class from the list of available ones. + * @param pointer to the teb Band to be removed + * @return Iterator to the next valid teb if available, else to the end of the tebs container. + */ + TebOptPlannerContainer::iterator removeTeb(TebOptimalPlannerPtr& teb); + + //@} + + /** @name Visualization */ + //@{ + + /** + * @brief Register a TebVisualization class to enable visiualization routines (e.g. publish the local plan and pose sequence) + * @param visualization shared pointer to a TebVisualization instance + * @see visualizeTeb + */ + void setVisualization(const TebVisualizationPtr & visualization) override; + + /** + * @brief Publish the local plan, pose sequence and additional information via ros topics (e.g. subscribe with rviz). + * + * Make sure to register a TebVisualization instance before using setVisualization() or an overlaoded constructor. + * @see setVisualization + */ + virtual void visualize(); + + //@} + + /** @name Important steps that are called during planning */ + //@{ + + + /** + * @brief Explore paths in new equivalence classes (e.g. homotopy classes) and initialize TEBs from them. + * + * This "all-in-one" method creates a graph with position keypoints from which + * feasible paths (with clearance from obstacles) are extracted. \n + * All obtained paths are filted to only keep a single path for each equivalence class. \n + * Each time a new equivalence class is explored (by means of \b no previous trajectory/TEB remain in that equivalence class), + * a new trajectory/TEB will be initialized. \n + * + * Everything is prepared now for the optimization step: see optimizeAllTEBs(). + * @param start Current start pose (e.g. pose of the robot) + * @param goal Goal pose (e.g. robot's goal) + * @param dist_to_obst Allowed distance to obstacles: if not satisfying, the path will be rejected (note, this is not the distance used for optimization). + * @param @param start_velocity start velocity (optional) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, otherwise the final velocity will be zero (default: false) + */ + void exploreEquivalenceClassesAndInitTebs(const PoseSE2& start, const PoseSE2& goal, double dist_to_obst, const geometry_msgs::msg::Twist* start_vel, bool free_goal_vel = false); + + /** + * @brief Add a new Teb to the internal trajectory container, if this teb constitutes a new equivalence class. Initialize it using a generic 2D reference path + * + * Refer to TimedElasticBand::initTEBtoGoal() for more details about the template parameters. + * @param path_start start iterator of a generic 2d path + * @param path_end end iterator of a generic 2d path + * @param fun_position unary function that returns the Eigen::Vector2d object + * @param start_orientation Orientation of the first pose of the trajectory (optional, otherwise use goal heading) + * @param goal_orientation Orientation of the last pose of the trajectory (optional, otherwise use goal heading) + * @param start_velocity start velocity (optional) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, otherwise the final velocity will be zero (default: false) + * @tparam BidirIter Bidirectional iterator type + * @tparam Fun unyary function that transforms the dereferenced iterator into an Eigen::Vector2d + * @return Shared pointer to the newly created teb optimal planner + */ + template + TebOptimalPlannerPtr addAndInitNewTeb(BidirIter path_start, BidirIter path_end, Fun fun_position, double start_orientation, double goal_orientation, const geometry_msgs::msg::Twist* start_velocity, bool free_goal_vel = false); + + /** + * @brief Add a new Teb to the internal trajectory container, if this teb constitutes a new equivalence class. Initialize it with a simple straight line between a given start and goal + * @param start start pose + * @param goal goal pose + * @param start_velocity start velocity (optional) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, otherwise the final velocity will be zero (default: false) + * @return Shared pointer to the newly created teb optimal planner + */ + TebOptimalPlannerPtr addAndInitNewTeb(const PoseSE2& start, const PoseSE2& goal, const geometry_msgs::msg::Twist* start_velocity, bool free_goal_vel = false); + + /** + * @brief Add a new Teb to the internal trajectory container , if this teb constitutes a new equivalence class. Initialize it using a PoseStamped container + * @param initial_plan container of poses (start and goal orientation should be valid!) + * @param start_velocity start velocity (optional) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, otherwise the final velocity will be zero (default: false) + * @return Shared pointer to the newly created teb optimal planner + */ + TebOptimalPlannerPtr addAndInitNewTeb(const std::vector& initial_plan, const geometry_msgs::msg::Twist* start_velocity, bool free_goal_vel = false); + + /** + * @brief Update TEBs with new pose, goal and current velocity. + * @param start New start pose (optional) + * @param goal New goal pose (optional) + * @param start_velocity start velocity (optional) + */ + void updateAllTEBs(const PoseSE2* start, const PoseSE2* goal, const geometry_msgs::msg::Twist* start_velocity); + + + /** + * @brief Optimize all available trajectories by invoking the optimizer on each one. + * + * Depending on the configuration parameters, the optimization is performed either single or multi threaded. + * @param iter_innerloop Number of inner iterations (see TebOptimalPlanner::optimizeTEB()) + * @param iter_outerloop Number of outer iterations (see TebOptimalPlanner::optimizeTEB()) + */ + void optimizeAllTEBs(int iter_innerloop, int iter_outerloop); + + /** + * @brief Returns a shared pointer to the TEB related to the initial plan + * @return A non-empty shared ptr is returned if a match was found; Otherwise the shared ptr is empty. + */ + TebOptimalPlannerPtr getInitialPlanTEB(); + + /** + * @brief In case of multiple, internally stored, alternative trajectories, select the best one according to their cost values. + * + * The trajectory cost includes features such as transition time and clearance from obstacles. \n + * The best trajectory can be accessed later by bestTeb() within the current sampling interval in order to avoid unessary recalculations. + * @return Shared pointer to the best TebOptimalPlanner that contains the selected trajectory (TimedElasticBand). + */ + TebOptimalPlannerPtr selectBestTeb(); + + //@} + + /** + * @brief Reset the planner. + * + * Clear all previously found H-signatures, paths, tebs and the hcgraph. + */ + virtual void clearPlanner() {clearGraph(); equivalence_classes_.clear(); tebs_.clear(); initial_plan_ = NULL;} + + + /** + * @brief Prefer a desired initial turning direction (by penalizing the opposing one) + * + * A desired (initial) turning direction might be specified in case the planned trajectory oscillates between two + * solutions (in the same equivalence class!) with similar cost. Check the parameters in order to adjust the weight of the penalty. + * Initial means that the penalty is applied only to the first few poses of the trajectory. + * @param dir This parameter might be RotType::left (prefer left), RotType::right (prefer right) or RotType::none (prefer none) + */ + virtual void setPreferredTurningDir(RotType dir); + + /** + * @brief Calculate the equivalence class of a path + * + * Currently, only the H-signature (refer to HSignature) is implemented. + * + * @param path_start Iterator to the first element in the path + * @param path_end Iterator to the last element in the path + * @param obstacles obstacle container + * @param fun_cplx_point function accepting the dereference iterator type and that returns the position as complex number. + * @tparam BidirIter Bidirectional iterator type + * @tparam Fun function of the form std::complex< long double > (const T& point_type) + * @return pointer to the equivalence class base type + */ + template + EquivalenceClassPtr calculateEquivalenceClass(BidirIter path_start, BidirIter path_end, Fun fun_cplx_point, const ObstContainer* obstacles = NULL, + boost::optional timediff_start = boost::none, boost::optional timediff_end = boost::none); + + /** + * @brief Read-only access to the internal trajectory container. + * @return read-only reference to the teb container. + */ + const TebOptPlannerContainer& getTrajectoryContainer() const {return tebs_;} + + bool hasDiverged() const override; + + /** + * Compute and return the cost of the current optimization graph (supports multiple trajectories) + * @param[out] cost current cost value for each trajectory + * [for a planner with just a single trajectory: size=1, vector will not be cleared] + * @param obst_cost_scale Specify extra scaling for obstacle costs + * @param viapoint_cost_scale Specify extra scaling for via points. + * @param alternative_time_cost Replace the cost for the time optimal objective by the actual (weighted) transition time + */ + virtual void computeCurrentCost(std::vector& cost, double obst_cost_scale=1.0, double viapoint_cost_scale=1.0, bool alternative_time_cost=false); + + /** + * @brief Check if two h-signatures are similar (w.r.t. a certain threshold) + * @param h1 first h-signature + * @param h2 second h-signature + * @return \c true if both h-signatures are similar, false otherwise. + */ + inline static bool isHSignatureSimilar(const std::complex& h1, const std::complex& h2, double threshold) + { + double diff_real = std::abs(h2.real() - h1.real()); + double diff_imag = std::abs(h2.imag() - h1.imag()); + if (diff_real<=threshold && diff_imag<=threshold) + return true; // Found! Homotopy class already exists, therefore nothing added + return false; + } + /** + * @brief Checks if the orientation of the computed trajectories differs from that of the best plan of more than the + * specified threshold and eventually deletes them. + * Also deletes detours with a duration much bigger than the duration of the best_teb (duration / best duration > max_ratio_detours_duration_best_duration). + * @param orient_threshold: Threshold paramter for allowed orientation changes in radians + * @param len_orientation_vector: length of the vector used to compute the start orientation + */ + void deletePlansDetouringBackwards(const double orient_threshold, const double len_orientation_vector); + /** + * @brief Given a plan, computes its start orientation using a vector of length >= len_orientation_vector + * starting from the initial pose. + * @param plan: Teb to be analyzed + * @param len_orientation_vector: min length of the vector used to compute the start orientation + * @param orientation: computed start orientation + * @return: Could the vector for the orientation check be computed? (False if the plan has no pose with a distance + * > len_orientation_vector from the start poseq) + */ + bool computeStartOrientation(const TebOptimalPlannerPtr plan, const double len_orientation_vector, double& orientation); + + + /** + * @brief Access config (read-only) + * @return const pointer to the config instance + */ + const TebConfig* config() const {return cfg_;} + + /** + * @brief Access current obstacle container (read-only) + * @return const pointer to the obstacle container instance + */ + const ObstContainer* obstacles() const {return obstacles_;} + + /** + * @brief Returns true if the planner is initialized + */ + bool isInitialized() const {return initialized_;} + + /** + * @brief Clear any existing graph of the homotopy class search + */ + void clearGraph() {if(graph_search_) graph_search_->clearGraph();} + + /** + * @brief find the index of the currently best TEB in the container + * @remarks bestTeb() should be preferred whenever possible + * @return index of the best TEB obtained with bestTEB(), if no TEB is avaiable, it returns -1. + */ + int bestTebIdx() const; + + + /** + * @brief Internal helper function that adds a new equivalence class to the list of known classes only if it is unique. + * @param eq_class equivalence class that should be tested + * @param lock if \c true, exclude the H-signature from deletion. + * @return \c true if the h-signature was added and no duplicate was found, \c false otherwise + */ + bool addEquivalenceClassIfNew(const EquivalenceClassPtr& eq_class, bool lock=false); + + /** + * @brief Return the current set of equivalence erelations (read-only) + * @return reference to the internal set of currently tracked equivalence relations + */ + const EquivalenceClassContainer& getEquivalenceClassRef() const {return equivalence_classes_;} + + bool isInBestTebClass(const EquivalenceClassPtr& eq_class) const; + + int numTebsInClass(const EquivalenceClassPtr& eq_class) const; + + int numTebsInBestTebClass() const; + + /** + * @brief Randomly drop non-optimal TEBs to so we can explore other alternatives + * + * The HCP has a tendency to become "fixated" once its tebs_ list becomes + * fully populated, repeatedly refining and evaluating paths from the same + * few homotopy classes until the robot moves far enough for a teb to become + * invalid. As a result, it can fail to discover a more optimal path. This + * function alleviates this problem by randomly dropping TEBs other than the + * current "best" one with a probability controlled by + * selection_dropping_probability parameter. + */ + void randomlyDropTebs(); + +protected: + + /** @name Explore new paths and keep only a single one for each homotopy class */ + //@{ + + /** + * @brief Check if a h-signature exists already. + * @param eq_class equivalence class that should be tested + * @return \c true if the h-signature is found, \c false otherwise + */ + bool hasEquivalenceClass(const EquivalenceClassPtr& eq_class) const; + + + /** + * @brief Renew all found h-signatures for the new planning step based on existing TEBs. Optionally detours can be discarded. + * + * Calling this method in each new planning interval is really important. + * First all old h-signatures are deleted, since they could be invalid for this planning step (obstacle position may changed). + * Afterwards the h-signatures are calculated for each existing TEB/trajectory and is inserted to the list of known h-signatures. + * Doing this is important to prefer already optimized trajectories in contrast to initialize newly explored coarse paths. + * @param delete_detours if this param is \c true, all existing TEBs are cleared from detour-candidates calling deletePlansGoingBackwards(). + */ + void renewAndAnalyzeOldTebs(bool delete_detours); + + /** + * @brief Associate trajectories with via-points + * + * If \c all_trajectories is true, all trajectory candidates are connected with the set of via_points, + * otherwise only the trajectory sharing the homotopy class of the initial/global plan (and all via-points from alternative trajectories are removed) + * @remarks Requires that the plan method is called with an initial plan provided and that via-points are enabled (config) + * @param all_trajectories see method description + */ + void updateReferenceTrajectoryViaPoints(bool all_trajectories); + + //@} + + // external objects (store weak pointers) + const TebConfig* cfg_; //!< Config class that stores and manages all related parameters + ObstContainer* obstacles_; //!< Store obstacles that are relevant for planning + const ViaPointContainer* via_points_; //!< Store the current list of via-points + + // internal objects (memory management owned) + TebVisualizationPtr visualization_; //!< Instance of the visualization class (local/global plan, obstacles, ...) + TebOptimalPlannerPtr best_teb_; //!< Store the current best teb. + EquivalenceClassPtr best_teb_eq_class_; //!< Store the equivalence class of the current best teb + RobotFootprintModelPtr robot_model_; //!< Robot model shared instance + + const std::vector* initial_plan_; //!< Store the initial plan if available for a better trajectory initialization + EquivalenceClassPtr initial_plan_eq_class_; //!< Store the equivalence class of the initial plan + TebOptimalPlannerPtr initial_plan_teb_; //!< Store pointer to the TEB related to the initial plan (use method getInitialPlanTEB() since it checks if initial_plan_teb_ is still included in tebs_.) + + TebOptPlannerContainer tebs_; //!< Container that stores multiple local teb planners (for alternative equivalence classes) and their corresponding costs + + EquivalenceClassContainer equivalence_classes_; //!< Store all known quivalence classes (e.g. h-signatures) to allow checking for duplicates after finding and adding new ones. + // The second parameter denotes whether to exclude the class from detour deletion or not (true: force keeping). + + std::shared_ptr graph_search_; + + rclcpp::Time last_eq_class_switching_time_; //!< Store the time at which the equivalence class changed recently + + std::default_random_engine random_; + bool initialized_; //!< Keeps track about the correct initialization of this class + + TebOptimalPlannerPtr last_best_teb_; //!< Points to the plan used in the previous control cycle + + + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + +}; + +//! Abbrev. for a shared pointer of a HomotopyClassPlanner instance. +typedef std::shared_ptr HomotopyClassPlannerPtr; + + +} // namespace teb_local_planner + +// include template implementations / definitions +#include "teb_local_planner/homotopy_class_planner.hpp" + +#endif /* HOMOTOPY_CLASS_PLANNER_H_ */ diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/homotopy_class_planner.hpp b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/homotopy_class_planner.hpp new file mode 100644 index 0000000..db7cdef --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/homotopy_class_planner.hpp @@ -0,0 +1,95 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#include "teb_local_planner/homotopy_class_planner.h" +#include "teb_local_planner/h_signature.h" + +namespace teb_local_planner +{ + + +template +EquivalenceClassPtr HomotopyClassPlanner::calculateEquivalenceClass(BidirIter path_start, BidirIter path_end, Fun fun_cplx_point, const ObstContainer* obstacles, + boost::optional timediff_start, boost::optional timediff_end) +{ + if(cfg_->obstacles.include_dynamic_obstacles) + { + HSignature3d* H = new HSignature3d(*cfg_); + H->calculateHSignature(path_start, path_end, fun_cplx_point, obstacles, timediff_start, timediff_end); + return EquivalenceClassPtr(H); + } + else + { + HSignature* H = new HSignature(*cfg_); + H->calculateHSignature(path_start, path_end, fun_cplx_point, obstacles); + return EquivalenceClassPtr(H); + } +} + + +template +TebOptimalPlannerPtr HomotopyClassPlanner::addAndInitNewTeb(BidirIter path_start, BidirIter path_end, Fun fun_position, double start_orientation, double goal_orientation, const geometry_msgs::msg::Twist* start_velocity, bool free_goal_vel) +{ + TebOptimalPlannerPtr candidate = TebOptimalPlannerPtr( new TebOptimalPlanner(node_, *cfg_, obstacles_)); + + candidate->teb().initTrajectoryToGoal(path_start, path_end, fun_position, cfg_->robot.max_vel_x, cfg_->robot.max_vel_theta, + cfg_->robot.acc_lim_x, cfg_->robot.acc_lim_theta, start_orientation, goal_orientation, cfg_->trajectory.min_samples, + cfg_->trajectory.allow_init_with_backwards_motion); + + if (start_velocity) + candidate->setVelocityStart(*start_velocity); + + EquivalenceClassPtr H = calculateEquivalenceClass(candidate->teb().poses().begin(), candidate->teb().poses().end(), getCplxFromVertexPosePtr, obstacles_, + candidate->teb().timediffs().begin(), candidate->teb().timediffs().end()); + + + if (free_goal_vel) + candidate->setVelocityGoalFree(); + + if(addEquivalenceClassIfNew(H)) + { + tebs_.push_back(candidate); + return tebs_.back(); + } + + // If the candidate constitutes no new equivalence class, return a null pointer + return TebOptimalPlannerPtr(); +} + +} // namespace teb_local_planner + diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/misc.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/misc.h new file mode 100644 index 0000000..67f5d90 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/misc.h @@ -0,0 +1,210 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef MISC_H +#define MISC_H + +#include + +#include + +#include +#include + +#include + +namespace teb_local_planner +{ +#define SMALL_NUM 0.00000001 + +//! Symbols for left/none/right rotations +enum class RotType { left, none, right }; + +/** + * @brief Check whether two variables (double) are close to each other + * @param a the first value to compare + * @param b the second value to compare + * @param epsilon precision threshold + * @return \c true if |a-b| < epsilon, false otherwise + */ +inline bool is_close(double a, double b, double epsilon = 1e-4) +{ + return std::fabs(a - b) < epsilon; +} + +/** + * @brief Return the average angle of an arbitrary number of given angles [rad] + * @param angles vector containing all angles + * @return average / mean angle, that is normalized to [-pi, pi] + */ +inline double average_angles(const std::vector& angles) +{ + double x=0, y=0; + for (std::vector::const_iterator it = angles.begin(); it!=angles.end(); ++it) + { + x += cos(*it); + y += sin(*it); + } + if(x == 0 && y == 0) + return 0; + else + return std::atan2(y, x); +} + +/** @brief Small helper function: check if |a|<|b| */ +inline bool smaller_than_abs(double i, double j) {return std::fabs(i) +inline double distance_points2d(const P1& point1, const P2& point2) +{ + return std::sqrt( std::pow(point2.x-point1.x,2) + std::pow(point2.y-point1.y,2) ); +} + + +/** + * @brief Calculate the 2d cross product (returns length of the resulting vector along the z-axis in 3d) + * @param v1 object containing public methods x() and y() + * @param v2 object containing fields x() and y() + * @return magnitude that would result in the 3D case (along the z-axis) +*/ +template +inline double cross2d(const V1& v1, const V2& v2) +{ + return v1.x()*v2.y() - v2.x()*v1.y(); +} + +/** + * @brief Helper function that returns the const reference to a value defined by either its raw pointer type or const reference. + * + * Return a constant reference for boths input variants (pointer or reference). + * @remarks Makes only sense in combination with the overload getConstReference(const T& val). + * @param ptr pointer of type T + * @tparam T arbitrary type + * @return If \c T is a pointer, return const *T (leading to const T&), otherwise const T& with out pointer-to-ref conversion + */ +template +inline const T& get_const_reference(const T* ptr) {return *ptr;} + +/** + * @brief Helper function that returns the const reference to a value defined by either its raw pointer type or const reference. + * + * Return a constant reference for boths input variants (pointer or reference). + * @remarks Makes only sense in combination with the overload getConstReference(const T* val). + * @param val + * @param dummy SFINAE helper variable + * @tparam T arbitrary type + * @return If \c T is a pointer, return const *T (leading to const T&), otherwise const T& with out pointer-to-ref conversion + */ +template +inline const T& get_const_reference(const T& val, typename std::enable_if_t::value, T>* dummy = nullptr) {return val;} + +inline builtin_interfaces::msg::Duration durationFromSec(double t_sec) +{ + int32_t sec; + uint32_t nsec; + sec = static_cast(floor(t_sec)); + nsec = static_cast(std::round((t_sec - sec) * 1e9)); + // avoid rounding errors + sec += (nsec / 1000000000l); + nsec %= 1000000000l; + + builtin_interfaces::msg::Duration duration; + duration.sec = sec; + duration.nanosec = nsec; + return duration; +} + +struct TebAssertionFailureException : public std::runtime_error +{ + TebAssertionFailureException(const std::string &msg) + : std::runtime_error(msg) + { + RCLCPP_ERROR(rclcpp::get_logger("teb_local_planner"), msg.c_str()); + } +}; + +#define TEB_ASSERT_MSG_IMPL(...) \ + { \ + char arg_string[1024]; \ + std::sprintf(arg_string, __VA_ARGS__); \ + const std::string msg(arg_string); \ + throw TebAssertionFailureException(msg); \ + } + +template::value>* = nullptr> +void teb_assert_msg_impl(const T expression, ARGS ...args) { + if(expression == 0) { + char arg_string[1024]; + std::sprintf(arg_string, args..., ""); + const std::string msg(arg_string); + throw TebAssertionFailureException(msg); + } +} + +template::value>* = nullptr> +void teb_assert_msg_impl(const T expression, ARGS ...args) { + if(expression == nullptr) { + char arg_string[1024]; + std::sprintf(arg_string, args..., ""); + const std::string msg(arg_string); + throw TebAssertionFailureException(msg); + } +} + +#define TEB_ASSERT_MSG(expression, ...) teb_assert_msg_impl(expression, __VA_ARGS__) + +} // namespace teb_local_planner + +#endif /* MISC_H */ diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/obstacles.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/obstacles.h new file mode 100644 index 0000000..6893589 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/obstacles.h @@ -0,0 +1,1112 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + + +#ifndef OBSTACLES_H +#define OBSTACLES_H + +#include +#include +#include + +#include + +#include +#include +#include + +#include "teb_local_planner/distance_calculations.h" + + +namespace teb_local_planner +{ + +/** + * @class Obstacle + * @brief Abstract class that defines the interface for modelling obstacles + */ +class Obstacle +{ +public: + + /** + * @brief Default constructor of the abstract obstacle class + */ + Obstacle() : dynamic_(false), centroid_velocity_(Eigen::Vector2d::Zero()) + { + } + + /** + * @brief Virtual destructor. + */ + virtual ~Obstacle() + { + } + + + /** @name Centroid coordinates (abstract, obstacle type depending) */ + //@{ + + /** + * @brief Get centroid coordinates of the obstacle + * @return Eigen::Vector2d containing the centroid + */ + virtual const Eigen::Vector2d& getCentroid() const = 0; + + /** + * @brief Get centroid coordinates of the obstacle as complex number + * @return std::complex containing the centroid coordinate + */ + virtual std::complex getCentroidCplx() const = 0; + + //@} + + + /** @name Collision checking and distance calculations (abstract, obstacle type depending) */ + //@{ + + /** + * @brief Check if a given point collides with the obstacle + * @param position 2D reference position that should be checked + * @param min_dist Minimum distance allowed to the obstacle to be collision free + * @return \c true if position is inside the region of the obstacle or if the minimum distance is lower than min_dist + */ + virtual bool checkCollision(const Eigen::Vector2d& position, double min_dist) const = 0; + + /** + * @brief Check if a given line segment between two points intersects with the obstacle (and additionally keeps a safty distance \c min_dist) + * @param line_start 2D point for the end of the reference line + * @param line_end 2D point for the end of the reference line + * @param min_dist Minimum distance allowed to the obstacle to be collision/intersection free + * @return \c true if given line intersects the region of the obstacle or if the minimum distance is lower than min_dist + */ + virtual bool checkLineIntersection(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double min_dist=0) const = 0; + + /** + * @brief Get the minimum euclidean distance to the obstacle (point as reference) + * @param position 2d reference position + * @return The nearest possible distance to the obstacle + */ + virtual double getMinimumDistance(const Eigen::Vector2d& position) const = 0; + + /** + * @brief Get the minimum euclidean distance to the obstacle (line as reference) + * @param line_start 2d position of the begin of the reference line + * @param line_end 2d position of the end of the reference line + * @return The nearest possible distance to the obstacle + */ + virtual double getMinimumDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end) const = 0; + + /** + * @brief Get the minimum euclidean distance to the obstacle (polygon as reference) + * @param polygon Vertices (2D points) describing a closed polygon + * @return The nearest possible distance to the obstacle + */ + virtual double getMinimumDistance(const Point2dContainer& polygon) const = 0; + + /** + * @brief Get the closest point on the boundary of the obstacle w.r.t. a specified reference position + * @param position reference 2d position + * @return closest point on the obstacle boundary + */ + virtual Eigen::Vector2d getClosestPoint(const Eigen::Vector2d& position) const = 0; + + //@} + + + + /** @name Velocity related methods for non-static, moving obstacles */ + //@{ + + /** + * @brief Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (point as reference) + * @param position 2d reference position + * @param t time, for which the minimum distance to the obstacle is estimated + * @return The nearest possible distance to the obstacle at time t + */ + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& position, double t) const = 0; + + /** + * @brief Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (line as reference) + * @param line_start 2d position of the begin of the reference line + * @param line_end 2d position of the end of the reference line + * @param t time, for which the minimum distance to the obstacle is estimated + * @return The nearest possible distance to the obstacle at time t + */ + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double t) const = 0; + + /** + * @brief Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (polygon as reference) + * @param polygon Vertices (2D points) describing a closed polygon + * @param t time, for which the minimum distance to the obstacle is estimated + * @return The nearest possible distance to the obstacle at time t + */ + virtual double getMinimumSpatioTemporalDistance(const Point2dContainer& polygon, double t) const = 0; + + /** + * @brief Predict position of the centroid assuming a constant velocity model + * @param[in] t time in seconds for the prediction (t>=0) + * @param[out] position predicted 2d position of the centroid + */ + virtual void predictCentroidConstantVelocity(double t, Eigen::Ref position) const + { + position = getCentroid() + t * getCentroidVelocity(); + } + + /** + * @brief Check if the obstacle is a moving with a (non-zero) velocity + * @return \c true if the obstacle is not marked as static, \c false otherwise + */ + bool isDynamic() const {return dynamic_;} + + /** + * @brief Set the 2d velocity (vx, vy) of the obstacle w.r.t to the centroid + * @remarks Setting the velocity using this function marks the obstacle as dynamic (@see isDynamic) + * @param vel 2D vector containing the velocities of the centroid in x and y directions + */ + void setCentroidVelocity(const Eigen::Ref& vel) {centroid_velocity_ = vel; dynamic_=true;} + + /** + * @brief Set the 2d velocity (vx, vy) of the obstacle w.r.t to the centroid + * @remarks Setting the velocity using this function marks the obstacle as dynamic (@see isDynamic) + * @param velocity geometry_msgs::msg::TwistWithCovariance containing the velocity of the obstacle + * @param orientation geometry_msgs::msg::QuaternionStamped containing the orientation of the obstacle + */ + void setCentroidVelocity(const geometry_msgs::msg::TwistWithCovariance& velocity, + const geometry_msgs::msg::Quaternion& orientation) + { + // Set velocity, if obstacle is moving + Eigen::Vector2d vel; + vel.coeffRef(0) = velocity.twist.linear.x; + vel.coeffRef(1) = velocity.twist.linear.y; + + // If norm of velocity is less than 0.001, consider obstacle as not dynamic + // TODO: Get rid of constant + if (vel.norm() < 0.001) + return; + + // currently velocity published by stage is already given in the map frame +// double yaw = tf::getYaw(orientation.quaternion); +// ROS_INFO("Yaw: %f", yaw); +// Eigen::Rotation2Dd rot(yaw); +// vel = rot * vel; + setCentroidVelocity(vel); + } + + void setCentroidVelocity(const geometry_msgs::msg::TwistWithCovariance& velocity, + const geometry_msgs::msg::QuaternionStamped& orientation) + { + setCentroidVelocity(velocity, orientation.quaternion); + } + + /** + * @brief Get the obstacle velocity (vx, vy) (w.r.t. to the centroid) + * @returns 2D vector containing the velocities of the centroid in x and y directions + */ + const Eigen::Vector2d& getCentroidVelocity() const {return centroid_velocity_;} + + //@} + + + + /** @name Helper Functions */ + //@{ + + /** + * @brief Convert the obstacle to a polygon message + * + * Convert the obstacle to a corresponding polygon msg. + * Point obstacles have one vertex, lines have two vertices + * and polygons might are implictly closed such that the start vertex must not be repeated. + * @param[out] polygon the polygon message + */ + virtual void toPolygonMsg(geometry_msgs::msg::Polygon& polygon) = 0; + + virtual void toTwistWithCovarianceMsg(geometry_msgs::msg::TwistWithCovariance& twistWithCovariance) + { + if (dynamic_) + { + twistWithCovariance.twist.linear.x = centroid_velocity_(0); + twistWithCovariance.twist.linear.y = centroid_velocity_(1); + } + else + { + twistWithCovariance.twist.linear.x = 0; + twistWithCovariance.twist.linear.y = 0; + } + + // TODO:Covariance + } + + //@} + +protected: + + bool dynamic_; //!< Store flag if obstacle is dynamic (resp. a moving obstacle) + Eigen::Vector2d centroid_velocity_; //!< Store the corresponding velocity (vx, vy) of the centroid (zero, if _dynamic is \c true) + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + +//! Abbrev. for shared obstacle pointers +typedef std::shared_ptr ObstaclePtr; +//! Abbrev. for shared obstacle const pointers +typedef std::shared_ptr ObstacleConstPtr; +//! Abbrev. for containers storing multiple obstacles +typedef std::vector ObstContainer; + + + +/** + * @class PointObstacle + * @brief Implements a 2D point obstacle + */ +class PointObstacle : public Obstacle +{ +public: + + /** + * @brief Default constructor of the point obstacle class + */ + PointObstacle() : Obstacle(), pos_(Eigen::Vector2d::Zero()) + {} + + /** + * @brief Construct PointObstacle using a 2d position vector + * @param position 2d position that defines the current obstacle position + */ + PointObstacle(const Eigen::Ref< const Eigen::Vector2d>& position) : Obstacle(), pos_(position) + {} + + /** + * @brief Construct PointObstacle using x- and y-coordinates + * @param x x-coordinate + * @param y y-coordinate + */ + PointObstacle(double x, double y) : Obstacle(), pos_(Eigen::Vector2d(x,y)) + {} + + + // implements checkCollision() of the base class + virtual bool checkCollision(const Eigen::Vector2d& point, double min_dist) const + { + return getMinimumDistance(point) < min_dist; + } + + + // implements checkLineIntersection() of the base class + virtual bool checkLineIntersection(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double min_dist=0) const + { + // Distance Line - Circle + // refer to http://www.spieleprogrammierer.de/wiki/2D-Kollisionserkennung#Kollision_Kreis-Strecke + Eigen::Vector2d a = line_end-line_start; // not normalized! a=y-x + Eigen::Vector2d b = pos_-line_start; // b=m-x + + // Now find nearest point to circle v=x+a*t with t=a*b/(a*a) and bound to 0<=t<=1 + double t = a.dot(b)/a.dot(a); + if (t<0) t=0; // bound t (since a is not normalized, t can be scaled between 0 and 1 to parametrize the line + else if (t>1) t=1; + Eigen::Vector2d nearest_point = line_start + a*t; + + // check collision + return checkCollision(nearest_point, min_dist); + } + + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Eigen::Vector2d& position) const + { + return (position-pos_).norm(); + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end) const + { + return distance_point_to_segment_2d(pos_, line_start, line_end); + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Point2dContainer& polygon) const + { + return distance_point_to_polygon_2d(pos_, polygon); + } + + // implements getMinimumDistanceVec() of the base class + virtual Eigen::Vector2d getClosestPoint(const Eigen::Vector2d& position) const + { + return pos_; + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& position, double t) const + { + return (pos_ + t*centroid_velocity_ - position).norm(); + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double t) const + { + return distance_point_to_segment_2d(pos_ + t*centroid_velocity_, line_start, line_end); + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Point2dContainer& polygon, double t) const + { + return distance_point_to_polygon_2d(pos_ + t*centroid_velocity_, polygon); + } + + // implements predictCentroidConstantVelocity() of the base class + virtual void predictCentroidConstantVelocity(double t, Eigen::Ref position) const + { + position = pos_ + t*centroid_velocity_; + } + + // implements getCentroid() of the base class + virtual const Eigen::Vector2d& getCentroid() const + { + return pos_; + } + + // implements getCentroidCplx() of the base class + virtual std::complex getCentroidCplx() const + { + return std::complex(pos_[0],pos_[1]); + } + + // Accessor methods + const Eigen::Vector2d& position() const {return pos_;} //!< Return the current position of the obstacle (read-only) + Eigen::Vector2d& position() {return pos_;} //!< Return the current position of the obstacle + double& x() {return pos_.coeffRef(0);} //!< Return the current x-coordinate of the obstacle + const double& x() const {return pos_.coeffRef(0);} //!< Return the current y-coordinate of the obstacle (read-only) + double& y() {return pos_.coeffRef(1);} //!< Return the current x-coordinate of the obstacle + const double& y() const {return pos_.coeffRef(1);} //!< Return the current y-coordinate of the obstacle (read-only) + + // implements toPolygonMsg() of the base class + virtual void toPolygonMsg(geometry_msgs::msg::Polygon& polygon) + { + polygon.points.resize(1); + polygon.points.front().x = pos_.x(); + polygon.points.front().y = pos_.y(); + polygon.points.front().z = 0; + } + +protected: + + Eigen::Vector2d pos_; //!< Store the position of the PointObstacle + + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +/** + * @class CircularObstacle + * @brief Implements a 2D circular obstacle (point obstacle plus radius) + */ +class CircularObstacle : public Obstacle +{ +public: + + /** + * @brief Default constructor of the circular obstacle class + */ + CircularObstacle() : Obstacle(), pos_(Eigen::Vector2d::Zero()) + {} + + /** + * @brief Construct CircularObstacle using a 2d center position vector and radius + * @param position 2d position that defines the current obstacle position + * @param radius radius of the obstacle + */ + CircularObstacle(const Eigen::Ref< const Eigen::Vector2d>& position, double radius) : Obstacle(), pos_(position), radius_(radius) + {} + + /** + * @brief Construct CircularObstacle using x- and y-center-coordinates and radius + * @param x x-coordinate + * @param y y-coordinate + * @param radius radius of the obstacle + */ + CircularObstacle(double x, double y, double radius) : Obstacle(), pos_(Eigen::Vector2d(x,y)), radius_(radius) + {} + + + // implements checkCollision() of the base class + virtual bool checkCollision(const Eigen::Vector2d& point, double min_dist) const + { + return getMinimumDistance(point) < min_dist; + } + + + // implements checkLineIntersection() of the base class + virtual bool checkLineIntersection(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double min_dist=0) const + { + // Distance Line - Circle + // refer to http://www.spieleprogrammierer.de/wiki/2D-Kollisionserkennung#Kollision_Kreis-Strecke + Eigen::Vector2d a = line_end-line_start; // not normalized! a=y-x + Eigen::Vector2d b = pos_-line_start; // b=m-x + + // Now find nearest point to circle v=x+a*t with t=a*b/(a*a) and bound to 0<=t<=1 + double t = a.dot(b)/a.dot(a); + if (t<0) t=0; // bound t (since a is not normalized, t can be scaled between 0 and 1 to parametrize the line + else if (t>1) t=1; + Eigen::Vector2d nearest_point = line_start + a*t; + + // check collision + return checkCollision(nearest_point, min_dist); + } + + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Eigen::Vector2d& position) const + { + return (position-pos_).norm() - radius_; + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end) const + { + return distance_point_to_segment_2d(pos_, line_start, line_end) - radius_; + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Point2dContainer& polygon) const + { + return distance_point_to_polygon_2d(pos_, polygon) - radius_; + } + + // implements getMinimumDistanceVec() of the base class + virtual Eigen::Vector2d getClosestPoint(const Eigen::Vector2d& position) const + { + return pos_ + radius_*(position-pos_).normalized(); + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& position, double t) const + { + return (pos_ + t*centroid_velocity_ - position).norm() - radius_; + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double t) const + { + return distance_point_to_segment_2d(pos_ + t*centroid_velocity_, line_start, line_end) - radius_; + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Point2dContainer& polygon, double t) const + { + return distance_point_to_polygon_2d(pos_ + t*centroid_velocity_, polygon) - radius_; + } + + // implements predictCentroidConstantVelocity() of the base class + virtual void predictCentroidConstantVelocity(double t, Eigen::Ref position) const + { + position = pos_ + t*centroid_velocity_; + } + + // implements getCentroid() of the base class + virtual const Eigen::Vector2d& getCentroid() const + { + return pos_; + } + + // implements getCentroidCplx() of the base class + virtual std::complex getCentroidCplx() const + { + return std::complex(pos_[0],pos_[1]); + } + + // Accessor methods + const Eigen::Vector2d& position() const {return pos_;} //!< Return the current position of the obstacle (read-only) + Eigen::Vector2d& position() {return pos_;} //!< Return the current position of the obstacle + double& x() {return pos_.coeffRef(0);} //!< Return the current x-coordinate of the obstacle + const double& x() const {return pos_.coeffRef(0);} //!< Return the current y-coordinate of the obstacle (read-only) + double& y() {return pos_.coeffRef(1);} //!< Return the current x-coordinate of the obstacle + const double& y() const {return pos_.coeffRef(1);} //!< Return the current y-coordinate of the obstacle (read-only) + double& radius() {return radius_;} //!< Return the current radius of the obstacle + const double& radius() const {return radius_;} //!< Return the current radius of the obstacle + + // implements toPolygonMsg() of the base class + virtual void toPolygonMsg(geometry_msgs::msg::Polygon& polygon) + { + // TODO(roesmann): the polygon message type cannot describe a "perfect" circle + // We could switch to ObstacleMsg if required somewhere... + polygon.points.resize(1); + polygon.points.front().x = pos_.x(); + polygon.points.front().y = pos_.y(); + polygon.points.front().z = 0; + } + +protected: + + Eigen::Vector2d pos_; //!< Store the center position of the CircularObstacle + double radius_ = 0.0; //!< Radius of the obstacle + + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +/** +* @class LineObstacle +* @brief Implements a 2D line obstacle +*/ + +class LineObstacle : public Obstacle +{ +public: + //! Abbrev. for a container storing vertices (2d points defining the edge points of the polygon) + typedef std::vector > VertexContainer; + + /** + * @brief Default constructor of the point obstacle class + */ + LineObstacle() : Obstacle() + { + start_.setZero(); + end_.setZero(); + centroid_.setZero(); + } + + /** + * @brief Construct LineObstacle using 2d position vectors as start and end of the line + * @param line_start 2d position that defines the start of the line obstacle + * @param line_end 2d position that defines the end of the line obstacle + */ + LineObstacle(const Eigen::Ref< const Eigen::Vector2d>& line_start, const Eigen::Ref< const Eigen::Vector2d>& line_end) + : Obstacle(), start_(line_start), end_(line_end) + { + calcCentroid(); + } + + /** + * @brief Construct LineObstacle using start and end coordinates + * @param x1 x-coordinate of the start of the line + * @param y1 y-coordinate of the start of the line + * @param x2 x-coordinate of the end of the line + * @param y2 y-coordinate of the end of the line + */ + LineObstacle(double x1, double y1, double x2, double y2) : Obstacle() + { + start_.x() = x1; + start_.y() = y1; + end_.x() = x2; + end_.y() = y2; + calcCentroid(); + } + + // implements checkCollision() of the base class + virtual bool checkCollision(const Eigen::Vector2d& point, double min_dist) const + { + return getMinimumDistance(point) <= min_dist; + } + + // implements checkLineIntersection() of the base class + virtual bool checkLineIntersection(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double min_dist=0) const + { + return check_line_segments_intersection_2d(line_start, line_end, start_, end_); + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Eigen::Vector2d& position) const + { + return distance_point_to_segment_2d(position, start_, end_); + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end) const + { + return distance_segment_to_segment_2d(start_, end_, line_start, line_end); + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Point2dContainer& polygon) const + { + return distance_segment_to_polygon_2d(start_, end_, polygon); + } + + // implements getMinimumDistanceVec() of the base class + virtual Eigen::Vector2d getClosestPoint(const Eigen::Vector2d& position) const + { + return closest_point_on_line_segment_2d(position, start_, end_); + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& position, double t) const + { + Eigen::Vector2d offset = t*centroid_velocity_; + return distance_point_to_segment_2d(position, start_ + offset, end_ + offset); + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double t) const + { + Eigen::Vector2d offset = t*centroid_velocity_; + return distance_segment_to_segment_2d(start_ + offset, end_ + offset, line_start, line_end); + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Point2dContainer& polygon, double t) const + { + Eigen::Vector2d offset = t*centroid_velocity_; + return distance_segment_to_polygon_2d(start_ + offset, end_ + offset, polygon); + } + + // implements getCentroid() of the base class + virtual const Eigen::Vector2d& getCentroid() const + { + return centroid_; + } + + // implements getCentroidCplx() of the base class + virtual std::complex getCentroidCplx() const + { + return std::complex(centroid_.x(), centroid_.y()); + } + + // Access or modify line + const Eigen::Vector2d& start() const {return start_;} + void setStart(const Eigen::Ref& start) {start_ = start; calcCentroid();} + const Eigen::Vector2d& end() const {return end_;} + void setEnd(const Eigen::Ref& end) {end_ = end; calcCentroid();} + + // implements toPolygonMsg() of the base class + virtual void toPolygonMsg(geometry_msgs::msg::Polygon& polygon) + { + polygon.points.resize(2); + polygon.points.front().x = start_.x(); + polygon.points.front().y = start_.y(); + + polygon.points.back().x = end_.x(); + polygon.points.back().y = end_.y(); + polygon.points.back().z = polygon.points.front().z = 0; + } + +protected: + void calcCentroid() { centroid_ = 0.5*(start_ + end_); } + +private: + Eigen::Vector2d start_; + Eigen::Vector2d end_; + + Eigen::Vector2d centroid_; + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + +/** +* @class PillObstacle +* @brief Implements a 2D pill/stadium/capsular-shaped obstacle (line + distance/radius) +*/ + +class PillObstacle : public Obstacle +{ +public: + + /** + * @brief Default constructor of the point obstacle class + */ + PillObstacle() : Obstacle() + { + start_.setZero(); + end_.setZero(); + centroid_.setZero(); + } + + /** + * @brief Construct LineObstacle using 2d position vectors as start and end of the line + * @param line_start 2d position that defines the start of the line obstacle + * @param line_end 2d position that defines the end of the line obstacle + */ + PillObstacle(const Eigen::Ref< const Eigen::Vector2d>& line_start, const Eigen::Ref< const Eigen::Vector2d>& line_end, double radius) + : Obstacle(), start_(line_start), end_(line_end), radius_(radius) + { + calcCentroid(); + } + + /** + * @brief Construct LineObstacle using start and end coordinates + * @param x1 x-coordinate of the start of the line + * @param y1 y-coordinate of the start of the line + * @param x2 x-coordinate of the end of the line + * @param y2 y-coordinate of the end of the line + */ + PillObstacle(double x1, double y1, double x2, double y2, double radius) : Obstacle(), radius_(radius) + { + start_.x() = x1; + start_.y() = y1; + end_.x() = x2; + end_.y() = y2; + calcCentroid(); + } + + // implements checkCollision() of the base class + virtual bool checkCollision(const Eigen::Vector2d& point, double min_dist) const + { + return getMinimumDistance(point) <= min_dist; + } + + // implements checkLineIntersection() of the base class + virtual bool checkLineIntersection(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double min_dist=0) const + { + return check_line_segments_intersection_2d(line_start, line_end, start_, end_); + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Eigen::Vector2d& position) const + { + return distance_point_to_segment_2d(position, start_, end_) - radius_; + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end) const + { + return distance_segment_to_segment_2d(start_, end_, line_start, line_end) - radius_; + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Point2dContainer& polygon) const + { + return distance_segment_to_polygon_2d(start_, end_, polygon) - radius_; + } + + // implements getMinimumDistanceVec() of the base class + virtual Eigen::Vector2d getClosestPoint(const Eigen::Vector2d& position) const + { + Eigen::Vector2d closed_point_line = closest_point_on_line_segment_2d(position, start_, end_); + return closed_point_line + radius_*(position-closed_point_line).normalized(); + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& position, double t) const + { + Eigen::Vector2d offset = t*centroid_velocity_; + return distance_point_to_segment_2d(position, start_ + offset, end_ + offset) - radius_; + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double t) const + { + Eigen::Vector2d offset = t*centroid_velocity_; + return distance_segment_to_segment_2d(start_ + offset, end_ + offset, line_start, line_end) - radius_; + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Point2dContainer& polygon, double t) const + { + Eigen::Vector2d offset = t*centroid_velocity_; + return distance_segment_to_polygon_2d(start_ + offset, end_ + offset, polygon) - radius_; + } + + // implements getCentroid() of the base class + virtual const Eigen::Vector2d& getCentroid() const + { + return centroid_; + } + + // implements getCentroidCplx() of the base class + virtual std::complex getCentroidCplx() const + { + return std::complex(centroid_.x(), centroid_.y()); + } + + // Access or modify line + const Eigen::Vector2d& start() const {return start_;} + void setStart(const Eigen::Ref& start) {start_ = start; calcCentroid();} + const Eigen::Vector2d& end() const {return end_;} + void setEnd(const Eigen::Ref& end) {end_ = end; calcCentroid();} + + // implements toPolygonMsg() of the base class + virtual void toPolygonMsg(geometry_msgs::msg::Polygon& polygon) + { + // Currently, we only export the line + // TODO(roesmann): export whole pill + polygon.points.resize(2); + polygon.points.front().x = start_.x(); + polygon.points.front().y = start_.y(); + + polygon.points.back().x = end_.x(); + polygon.points.back().y = end_.y(); + polygon.points.back().z = polygon.points.front().z = 0; + } + +protected: + void calcCentroid() { centroid_ = 0.5*(start_ + end_); } + +private: + Eigen::Vector2d start_; + Eigen::Vector2d end_; + double radius_ = 0.0; + + Eigen::Vector2d centroid_; + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +/** + * @class PolygonObstacle + * @brief Implements a polygon obstacle with an arbitrary number of vertices + * @details If the polygon has only 2 vertices, than it is considered as a line, + * otherwise the polygon will always be closed (a connection between the first and the last vertex + * is included automatically). + */ +class PolygonObstacle : public Obstacle +{ +public: + + /** + * @brief Default constructor of the polygon obstacle class + */ + PolygonObstacle() : Obstacle(), finalized_(false) + { + centroid_.setConstant(NAN); + } + + /** + * @brief Construct polygon obstacle with a list of vertices + */ + PolygonObstacle(const Point2dContainer& vertices) : Obstacle(), vertices_(vertices) + { + finalizePolygon(); + } + + + /* FIXME Not working at the moment due to the aligned allocator version of std::vector + * And it is C++11 code that is disabled atm to ensure compliance with ROS indigo/jade + template + PolygonObstacle(const Vector2dType&... vertices) : _vertices({vertices...}) + { + calcCentroid(); + _finalized = true; + } + */ + + + // implements checkCollision() of the base class + virtual bool checkCollision(const Eigen::Vector2d& point, double min_dist) const + { + // line case + if (noVertices()==2) + return getMinimumDistance(point) <= min_dist; + + // check if point is in the interior of the polygon + // point in polygon test - raycasting (http://www.ecse.rpi.edu/Homepages/wrf/Research/Short_Notes/pnpoly.html) + // using the following algorithm we may obtain false negatives on edge-cases, but that's ok for our purposes + int i, j; + bool c = false; + for (i = 0, j = noVertices()-1; i < noVertices(); j = i++) + { + if ( ((vertices_.at(i).y()>point.y()) != (vertices_.at(j).y()>point.y())) && + (point.x() < (vertices_.at(j).x()-vertices_.at(i).x()) * (point.y()-vertices_.at(i).y()) / (vertices_.at(j).y()-vertices_.at(i).y()) + vertices_.at(i).x()) ) + c = !c; + } + if (c>0) return true; + + // If this statement is reached, the point lies outside the polygon or maybe on its edges + // Let us check the minium distance as well + return min_dist == 0 ? false : getMinimumDistance(point) < min_dist; + } + + + /** + * @brief Check if a given line segment between two points intersects with the obstacle (and additionally keeps a safty distance \c min_dist) + * @param line_start 2D point for the end of the reference line + * @param line_end 2D point for the end of the reference line + * @param min_dist Minimum distance allowed to the obstacle to be collision/intersection free + * @remarks we ignore \c min_dist here + * @return \c true if given line intersects the region of the obstacle or if the minimum distance is lower than min_dist + */ + virtual bool checkLineIntersection(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double min_dist=0) const; + + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Eigen::Vector2d& position) const + { + return distance_point_to_polygon_2d(position, vertices_); + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end) const + { + return distance_segment_to_polygon_2d(line_start, line_end, vertices_); + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Point2dContainer& polygon) const + { + return distance_polygon_to_polygon_2d(polygon, vertices_); + } + + // implements getMinimumDistanceVec() of the base class + virtual Eigen::Vector2d getClosestPoint(const Eigen::Vector2d& position) const; + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& position, double t) const + { + Point2dContainer pred_vertices; + predictVertices(t, pred_vertices); + return distance_point_to_polygon_2d(position, pred_vertices); + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double t) const + { + Point2dContainer pred_vertices; + predictVertices(t, pred_vertices); + return distance_segment_to_polygon_2d(line_start, line_end, pred_vertices); + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Point2dContainer& polygon, double t) const + { + Point2dContainer pred_vertices; + predictVertices(t, pred_vertices); + return distance_polygon_to_polygon_2d(polygon, pred_vertices); + } + + virtual void predictVertices(double t, Point2dContainer& pred_vertices) const + { + // Predict obstacle (polygon) at time t + pred_vertices.resize(vertices_.size()); + Eigen::Vector2d offset = t*centroid_velocity_; + for (std::size_t i = 0; i < vertices_.size(); i++) + { + pred_vertices[i] = vertices_[i] + offset; + } + } + + // implements getCentroid() of the base class + virtual const Eigen::Vector2d& getCentroid() const + { + assert(finalized_ && "Finalize the polygon after all vertices are added."); + return centroid_; + } + + // implements getCentroidCplx() of the base class + virtual std::complex getCentroidCplx() const + { + assert(finalized_ && "Finalize the polygon after all vertices are added."); + return std::complex(centroid_.coeffRef(0), centroid_.coeffRef(1)); + } + + // implements toPolygonMsg() of the base class + virtual void toPolygonMsg(geometry_msgs::msg::Polygon& polygon); + + + /** @name Define the polygon */ + ///@{ + + // Access or modify polygon + const Point2dContainer& vertices() const {return vertices_;} //!< Access vertices container (read-only) + Point2dContainer& vertices() {return vertices_;} //!< Access vertices container + + /** + * @brief Add a vertex to the polygon (edge-point) + * @remarks You do not need to close the polygon (do not repeat the first vertex) + * @warning Do not forget to call finalizePolygon() after adding all vertices + * @param vertex 2D point defining a new polygon edge + */ + void pushBackVertex(const Eigen::Ref& vertex) + { + vertices_.push_back(vertex); + finalized_ = false; + } + + /** + * @brief Add a vertex to the polygon (edge-point) + * @remarks You do not need to close the polygon (do not repeat the first vertex) + * @warning Do not forget to call finalizePolygon() after adding all vertices + * @param x x-coordinate of the new vertex + * @param y y-coordinate of the new vertex + */ + void pushBackVertex(double x, double y) + { + vertices_.push_back(Eigen::Vector2d(x,y)); + finalized_ = false; + } + + /** + * @brief Call finalizePolygon after the polygon is created with the help of pushBackVertex() methods + */ + void finalizePolygon() + { + fixPolygonClosure(); + calcCentroid(); + finalized_ = true; + } + + /** + * @brief Clear all vertices (Afterwards the polygon is not valid anymore) + */ + void clearVertices() {vertices_.clear(); finalized_ = false;} + + /** + * @brief Get the number of vertices defining the polygon (the first vertex is counted once) + */ + int noVertices() const {return (int)vertices_.size();} + + + ///@} + +protected: + + void fixPolygonClosure(); //!< Check if the current polygon contains the first vertex twice (as start and end) and in that case erase the last redundant one. + + void calcCentroid(); //!< Compute the centroid of the polygon (called inside finalizePolygon()) + + + Point2dContainer vertices_; //!< Store vertices defining the polygon (@see pushBackVertex) + Eigen::Vector2d centroid_; //!< Store the centroid coordinates of the polygon (@see calcCentroid) + + bool finalized_; //!< Flat that keeps track if the polygon was finalized after adding all vertices + + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + +} // namespace teb_local_planner + +#endif /* OBSTACLES_H */ diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/optimal_planner.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/optimal_planner.h new file mode 100644 index 0000000..f76efe8 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/optimal_planner.h @@ -0,0 +1,736 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef OPTIMAL_PLANNER_H_ +#define OPTIMAL_PLANNER_H_ + +#include + + +// teb stuff +#include "teb_local_planner/teb_config.h" +#include "teb_local_planner/misc.h" +#include "teb_local_planner/timed_elastic_band.h" +#include "teb_local_planner/planner_interface.h" +#include "teb_local_planner/visualization.h" +#include "teb_local_planner/robot_footprint_model.h" + +// g2o lib stuff +#include "g2o/core/sparse_optimizer.h" +#include "g2o/core/block_solver.h" +#include "g2o/core/factory.h" +#include "g2o/core/optimization_algorithm_gauss_newton.h" +#include "g2o/core/optimization_algorithm_levenberg.h" +#include "g2o/solvers/csparse/linear_solver_csparse.h" +#include "g2o/solvers/cholmod/linear_solver_cholmod.h" + +// g2o custom edges and vertices for the TEB planner +#include "teb_local_planner/g2o_types/edge_velocity.h" +#include "teb_local_planner/g2o_types/edge_acceleration.h" +#include "teb_local_planner/g2o_types/edge_kinematics.h" +#include "teb_local_planner/g2o_types/edge_time_optimal.h" +#include "teb_local_planner/g2o_types/edge_shortest_path.h" +#include "teb_local_planner/g2o_types/edge_obstacle.h" +#include "teb_local_planner/g2o_types/edge_dynamic_obstacle.h" +#include "teb_local_planner/g2o_types/edge_via_point.h" +#include "teb_local_planner/g2o_types/edge_prefer_rotdir.h" + +// messages +#include +#include +#include +#include +#include + +#include + +#include + +#include + +namespace teb_local_planner +{ + +//! Typedef for the block solver utilized for optimization +typedef g2o::BlockSolverX TEBBlockSolver; + +//! Typedef for the linear solver utilized for optimization +typedef g2o::LinearSolverCSparse TEBLinearSolver; +//typedef g2o::LinearSolverCholmod TEBLinearSolver; + +//! Typedef for a container storing via-points +typedef std::vector< Eigen::Vector2d, Eigen::aligned_allocator > ViaPointContainer; + + +/** + * @class TebOptimalPlanner + * @brief This class optimizes an internal Timed Elastic Band trajectory using the g2o-framework. + * + * For an introduction and further details about the TEB optimization problem refer to: + * - C. Rösmann et al.: Trajectory modification considering dynamic constraints of autonomous robots, ROBOTIK, 2012. + * - C. Rösmann et al.: Efficient trajectory optimization using a sparse model, ECMR, 2013. + * - R. Kümmerle et al.: G2o: A general framework for graph optimization, ICRA, 2011. + * + * @todo: Call buildGraph() only if the teb structure has been modified to speed up hot-starting from previous solutions. + * @todo: We introduced the non-fast mode with the support of dynamic obstacles + * (which leads to better results in terms of x-y-t homotopy planning). + * However, we have not tested this mode intensively yet, so we keep + * the legacy fast mode as default until we finish our tests. + */ +class TebOptimalPlanner : public PlannerInterface +{ +public: + + /** + * @brief Default constructor + */ + TebOptimalPlanner(); + + /** + * @brief Construct and initialize the TEB optimal planner. + * @param cfg Const reference to the TebConfig class for internal parameters + * @param obstacles Container storing all relevant obstacles (see Obstacle) + * @param visual Shared pointer to the TebVisualization class (optional) + * @param via_points Container storing via-points (optional) + */ + TebOptimalPlanner(nav2_util::LifecycleNode::SharedPtr node, const TebConfig& cfg, ObstContainer* obstacles = NULL, + TebVisualizationPtr visual = TebVisualizationPtr(), const ViaPointContainer* via_points = NULL); + + /** + * @brief Destruct the optimal planner. + */ + virtual ~TebOptimalPlanner(); + + /** + * @brief Initializes the optimal planner + * @param node Shared pointer for rclcpp::Node + * @param cfg Const reference to the TebConfig class for internal parameters + * @param obstacles Container storing all relevant obstacles (see Obstacle) + * @param robot_model Shared pointer to the robot shape model used for optimization (optional) + * @param visual Shared pointer to the TebVisualization class (optional) + * @param via_points Container storing via-points (optional) + */ + void initialize(nav2_util::LifecycleNode::SharedPtr node, const TebConfig& cfg, ObstContainer* obstacles = NULL, + TebVisualizationPtr visual = TebVisualizationPtr(), const ViaPointContainer* via_points = NULL); + + /** @name Plan a trajectory */ + //@{ + + /** + * @brief Plan a trajectory based on an initial reference plan. + * + * Call this method to create and optimize a trajectory that is initialized + * according to an initial reference plan (given as a container of poses). \n + * The method supports hot-starting from previous solutions, if avaiable: \n + * - If no trajectory exist yet, a new trajectory is initialized based on the initial plan, + * see TimedElasticBand::initTEBtoGoal + * - If a previous solution is avaiable, update the trajectory based on the initial plan, + * see bool TimedElasticBand::updateAndPruneTEB + * - Afterwards optimize the recently initialized or updated trajectory by calling optimizeTEB() and invoking g2o + * @param initial_plan vector of geometry_msgs::msg::PoseStamped + * @param start_vel Current start velocity (e.g. the velocity of the robot, only linear.x, linear.y (holonomic) and angular.z are used) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, + * otherwise the final velocity will be zero (default: false) + * @return \c true if planning was successful, \c false otherwise + */ + virtual bool plan(const std::vector& initial_plan, const geometry_msgs::msg::Twist* start_vel = NULL, bool free_goal_vel=false); + + /** + * @brief Plan a trajectory between a given start and goal pose (tf::Pose version) + * + * Call this method to create and optimize a trajectory that is initialized between a given start and goal pose. \n + * The method supports hot-starting from previous solutions, if avaiable: \n + * - If no trajectory exist yet, a new trajectory is initialized between start and goal poses, + * see TimedElasticBand::initTEBtoGoal + * - If a previous solution is avaiable, update the trajectory @see bool TimedElasticBand::updateAndPruneTEB + * - Afterwards optimize the recently initialized or updated trajectory by calling optimizeTEB() and invoking g2o + * @param start tf::Pose containing the start pose of the trajectory + * @param goal tf::Pose containing the goal pose of the trajectory + * @param start_vel Current start velocity (e.g. the velocity of the robot, only linear.x, linear.y (holonomic) and angular.z are used) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, + * otherwise the final velocity will be zero (default: false) + * @return \c true if planning was successful, \c false otherwise + */ + // tf2 doesn't have tf::Pose +// virtual bool plan(const tf::Pose& start, const tf::Pose& goal, const geometry_msgs::msg::Twist* start_vel = NULL, bool free_goal_vel=false); + + /** + * @brief Plan a trajectory between a given start and goal pose + * + * Call this method to create and optimize a trajectory that is initialized between a given start and goal pose. \n + * The method supports hot-starting from previous solutions, if avaiable: \n + * - If no trajectory exist yet, a new trajectory is initialized between start and goal poses + * @see TimedElasticBand::initTEBtoGoal + * - If a previous solution is avaiable, update the trajectory @see bool TimedElasticBand::updateAndPruneTEB + * - Afterwards optimize the recently initialized or updated trajectory by calling optimizeTEB() and invoking g2o + * @param start PoseSE2 containing the start pose of the trajectory + * @param goal PoseSE2 containing the goal pose of the trajectory + * @param start_vel Initial velocity at the start pose (twist message containing the translational and angular velocity). + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, + * otherwise the final velocity will be zero (default: false) + * @return \c true if planning was successful, \c false otherwise + */ + virtual bool plan(const PoseSE2& start, const PoseSE2& goal, const geometry_msgs::msg::Twist* start_vel = NULL, bool free_goal_vel=false); + + + /** + * @brief Get the velocity command from a previously optimized plan to control the robot at the current sampling interval. + * @warning Call plan() first and check if the generated plan is feasible. + * @param[out] vx translational velocity [m/s] + * @param[out] vy strafing velocity which can be nonzero for holonomic robots[m/s] + * @param[out] omega rotational velocity [rad/s] + * @param[in] look_ahead_poses index of the final pose used to compute the velocity command. + * @return \c true if command is valid, \c false otherwise + */ + virtual bool getVelocityCommand(double& vx, double& vy, double& omega, int look_ahead_poses) const; + + + /** + * @brief Optimize a previously initialized trajectory (actual TEB optimization loop). + * + * optimizeTEB implements the main optimization loop. \n + * It consist of two nested loops: + * - The outer loop resizes the trajectory according to the temporal resolution by invoking TimedElasticBand::autoResize(). + * Afterwards the internal method optimizeGraph() is called that constitutes the innerloop. + * - The inner loop calls the solver (g2o framework, resp. sparse Levenberg-Marquardt) and iterates a specified + * number of optimization calls (\c iterations_innerloop). + * + * The outer loop is repeated \c iterations_outerloop times. \n + * The ratio of inner and outer loop iterations significantly defines the contraction behavior + * and convergence rate of the trajectory optimization. Based on our experiences, 2-6 innerloop iterations are sufficient. \n + * The number of outer loop iterations should be determined by considering the maximum CPU time required to match the control rate. \n + * Optionally, the cost vector can be calculated by specifying \c compute_cost_afterwards, see computeCurrentCost(). + * @remarks This method is usually called from a plan() method + * @param iterations_innerloop Number of iterations for the actual solver loop + * @param iterations_outerloop Specifies how often the trajectory should be resized followed by the inner solver loop. + * @param compute_cost_afterwards if \c true Calculate the cost vector according to computeCurrentCost(), + * the vector can be accessed afterwards using getCurrentCost(). + * @param obst_cost_scale Specify extra scaling for obstacle costs (only used if \c compute_cost_afterwards is true) + * @param viapoint_cost_scale Specify extra scaling for via-point costs (only used if \c compute_cost_afterwards is true) + * @param alternative_time_cost Replace the cost for the time optimal objective by the actual (weighted) transition time + * (only used if \c compute_cost_afterwards is true). + * @return \c true if the optimization terminates successfully, \c false otherwise + */ + bool optimizeTEB(int iterations_innerloop, int iterations_outerloop, bool compute_cost_afterwards = false, + double obst_cost_scale=1.0, double viapoint_cost_scale=1.0, bool alternative_time_cost=false); + + //@} + + + /** @name Desired initial and final velocity */ + //@{ + + + /** + * @brief Set the initial velocity at the trajectory's start pose (e.g. the robot's velocity) [twist overload]. + * @remarks Calling this function is not neccessary if the initial velocity is passed via the plan() method + * @param vel_start Current start velocity (e.g. the velocity of the robot, only linear.x and angular.z are used, + * for holonomic robots also linear.y) + */ + void setVelocityStart(const geometry_msgs::msg::Twist& vel_start); + + /** + * @brief Set the desired final velocity at the trajectory's goal pose. + * @remarks Call this function only if a non-zero velocity is desired and if \c free_goal_vel is set to \c false in plan() + * @param vel_goal twist message containing the translational and angular final velocity + */ + void setVelocityGoal(const geometry_msgs::msg::Twist& vel_goal); + + /** + * @brief Set the desired final velocity at the trajectory's goal pose to be the maximum velocity limit + * @remarks Calling this function is not neccessary if \c free_goal_vel is set to \c false in plan() + */ + void setVelocityGoalFree() {vel_goal_.first = false;} + + //@} + + + /** @name Take obstacles into account */ + //@{ + + + /** + * @brief Assign a new set of obstacles + * @param obst_vector pointer to an obstacle container (can also be a nullptr) + * @remarks This method overrids the obstacle container optinally assigned in the constructor. + */ + void setObstVector(ObstContainer* obst_vector) {obstacles_ = obst_vector;} + + /** + * @brief Access the internal obstacle container. + * @return Const reference to the obstacle container + */ + const ObstContainer& getObstVector() const {return *obstacles_;} + + //@} + + /** @name Take via-points into account */ + //@{ + + + /** + * @brief Assign a new set of via-points + * @param via_points pointer to a via_point container (can also be a nullptr) + * @details Any previously set container will be overwritten. + */ + void setViaPoints(const ViaPointContainer* via_points) {via_points_ = via_points;} + + /** + * @brief Access the internal via-point container. + * @return Const reference to the via-point container + */ + const ViaPointContainer& getViaPoints() const {return *via_points_;} + + //@} + + + /** @name Visualization */ + //@{ + + /** + * @brief Register a TebVisualization class to enable visiualization routines (e.g. publish the local plan and pose sequence) + * @param visualization shared pointer to a TebVisualization instance + * @see visualize + */ + void setVisualization(const TebVisualizationPtr & visualization) override; + + /** + * @brief Publish the local plan and pose sequence via ros topics (e.g. subscribe with rviz). + * + * Make sure to register a TebVisualization instance before using setVisualization() or an overlaoded constructor. + * @see setVisualization + */ + virtual void visualize(); + + //@} + + + /** @name Utility methods and more */ + //@{ + + /** + * @brief Reset the planner by clearing the internal graph and trajectory. + */ + virtual void clearPlanner() + { + clearGraph(); + teb_.clearTimedElasticBand(); + } + + /** + * @brief Prefer a desired initial turning direction (by penalizing the opposing one) + * + * A desired (initial) turning direction might be specified in case the planned trajectory oscillates between two + * solutions (in the same equivalence class!) with similar cost. Check the parameters in order to adjust the weight of the penalty. + * Initial means that the penalty is applied only to the first few poses of the trajectory. + * @param dir This parameter might be RotType::left (prefer left), RotType::right (prefer right) or RotType::none (prefer none) + */ + virtual void setPreferredTurningDir(RotType dir) {prefer_rotdir_=dir;} + + /** + * @brief Register the vertices and edges defined for the TEB to the g2o::Factory. + * + * This allows the user to export the internal graph to a text file for instance. + * Access the optimizer() for more details. + */ + static void registerG2OTypes(); + + /** + * @brief Access the internal TimedElasticBand trajectory. + * @warning In general, the underlying teb must not be modified directly. Use with care... + * @return reference to the teb + */ + TimedElasticBand& teb() {return teb_;}; + + /** + * @brief Access the internal TimedElasticBand trajectory (read-only). + * @return const reference to the teb + */ + const TimedElasticBand& teb() const {return teb_;}; + + /** + * @brief Access the internal g2o optimizer. + * @warning In general, the underlying optimizer must not be modified directly. Use with care... + * @return const shared pointer to the g2o sparse optimizer + */ + std::shared_ptr optimizer() {return optimizer_;}; + + /** + * @brief Access the internal g2o optimizer (read-only). + * @return const shared pointer to the g2o sparse optimizer + */ + std::shared_ptr optimizer() const {return optimizer_;}; + + /** + * @brief Check if last optimization was successful + * @return \c true if the last optimization returned without errors, + * otherwise \c false (also if no optimization has been called before). + */ + bool isOptimized() const {return optimized_;}; + + /** + * @brief Returns true if the planner has diverged. + */ + bool hasDiverged() const override; + + /** + * @brief Compute the cost vector of a given optimization problen (hyper-graph must exist). + * + * Use this method to obtain information about the current edge errors / costs (local cost functions). \n + * The vector of cost values is composed according to the different edge types (time_optimal, obstacles, ...). \n + * Refer to the method declaration for the detailed composition. \n + * The cost for the edges that minimize time differences (EdgeTimeOptimal) corresponds to the sum of all single + * squared time differneces: \f$ \sum_i \Delta T_i^2 \f$. Sometimes, the user may want to get a value that is proportional + * or identical to the actual trajectory transition time \f$ \sum_i \Delta T_i \f$. \n + * Set \c alternative_time_cost to true in order to get the cost calculated using the latter equation, but check the + * implemented definition, if the value is scaled to match the magnitude of other cost values. + * + * @todo Remove the scaling term for the alternative time cost. + * @todo Can we use the last error (chi2) calculated from g2o instead of calculating it by ourself? + * @see getCurrentCost + * @see optimizeTEB + * @param obst_cost_scale Specify extra scaling for obstacle costs. + * @param viapoint_cost_scale Specify extra scaling for via points. + * @param alternative_time_cost Replace the cost for the time optimal objective by the actual (weighted) transition time. + * @return TebCostVec containing the cost values + */ + void computeCurrentCost(double obst_cost_scale=1.0, double viapoint_cost_scale=1.0, bool alternative_time_cost=false); + + /** + * Compute and return the cost of the current optimization graph (supports multiple trajectories) + * @param[out] cost current cost value for each trajectory + * [for a planner with just a single trajectory: size=1, vector will not be cleared] + * @param obst_cost_scale Specify extra scaling for obstacle costs + * @param viapoint_cost_scale Specify extra scaling for via points. + * @param alternative_time_cost Replace the cost for the time optimal objective by the actual (weighted) transition time + */ + virtual void computeCurrentCost(std::vector& cost, double obst_cost_scale=1.0, double viapoint_cost_scale=1.0, bool alternative_time_cost=false) + { + computeCurrentCost(obst_cost_scale, viapoint_cost_scale, alternative_time_cost); + cost.push_back( getCurrentCost() ); + } + + /** + * @brief Access the cost vector. + * + * The accumulated cost value previously calculated using computeCurrentCost + * or by calling optimizeTEB with enabled cost flag. + * @return const reference to the TebCostVec. + */ + double getCurrentCost() const {return cost_;} + + + /** + * @brief Extract the velocity from consecutive poses and a time difference (including strafing velocity for holonomic robots) + * + * The velocity is extracted using finite differences. + * The direction of the translational velocity is also determined. + * @param pose1 pose at time k + * @param pose2 consecutive pose at time k+1 + * @param dt actual time difference between k and k+1 (must be >0 !!!) + * @param[out] vx translational velocity + * @param[out] vy strafing velocity which can be nonzero for holonomic robots + * @param[out] omega rotational velocity + */ + inline void extractVelocity(const PoseSE2& pose1, const PoseSE2& pose2, double dt, double& vx, double& vy, double& omega) const; + + /** + * @brief Compute the velocity profile of the trajectory + * + * This method computes the translational and rotational velocity for the complete + * planned trajectory. + * The first velocity is the one that is provided as initial velocity (fixed). + * Velocities at index k=2...end-1 are related to the transition from pose_{k-1} to pose_k. + * The last velocity is the final velocity (fixed). + * The number of Twist objects is therefore sizePoses()+1; + * In summary: + * v[0] = v_start, + * v[1,...end-1] = +-(pose_{k+1}-pose{k})/dt, + * v(end) = v_goal + * It can be used for evaluation and debugging purposes or + * for open-loop control. For computing the velocity required for controlling the robot + * to the next step refer to getVelocityCommand(). + * @param[out] velocity_profile velocity profile will be written to this vector (after clearing any existing content) with the size=no_poses+1 + */ + void getVelocityProfile(std::vector& velocity_profile) const; + + /** + * @brief Return the complete trajectory including poses, velocity profiles and temporal information + * + * It is useful for evaluation and debugging purposes or for open-loop control. + * Since the velocity obtained using difference quotients is the mean velocity between consecutive poses, + * the velocity at each pose at time stamp k is obtained by taking the average between both velocities. + * The velocity of the first pose is v_start (provided initial value) and the last one is v_goal (usually zero, if free_goal_vel is off). + * See getVelocityProfile() for the list of velocities between consecutive points. + * @todo The acceleration profile is not added at the moment. + * @param[out] trajectory the resulting trajectory + */ + void getFullTrajectory(std::vector& trajectory) const; + + /** + * @brief Check whether the planned trajectory is feasible or not. + * + * This method currently checks only that the trajectory, or a part of the trajectory is collision free. + * Obstacles are here represented as costmap instead of the internal ObstacleContainer. + * @param costmap_model Pointer to the costmap model + * @param footprint_spec The specification of the footprint of the robot in world coordinates + * @param inscribed_radius The radius of the inscribed circle of the robot + * @param circumscribed_radius The radius of the circumscribed circle of the robot + * @param look_ahead_idx Number of poses along the trajectory that should be verified, if -1, the complete trajectory will be checked. + * @return \c true, if the robot footprint along the first part of the trajectory intersects with + * any obstacle in the costmap, \c false otherwise. + */ + virtual bool isTrajectoryFeasible(dwb_critics::ObstacleFootprintCritic* costmap_model, const std::vector& footprint_spec, double inscribed_radius = 0.0, + double circumscribed_radius=0.0, int look_ahead_idx=-1, double feasibility_check_lookahead_distance=-1); + + /** + * @brief Check whether the footprint of the robot at the pose touches an obstacle or not. + * + * @param pose2d Pose to check + * @param costmap_model Pointer to the costmap model + * @param footprint_spec The specification of the footprint of the robot in world coordinates + * @return \c true, if the robot pose is valid, \c false otherwise. + */ + virtual bool isPoseValid(geometry_msgs::msg::Pose2D pose2d, dwb_critics::ObstacleFootprintCritic* costmap_model, + const std::vector& footprint_spec); + + //@} + +protected: + + /** @name Hyper-Graph creation and optimization */ + //@{ + + /** + * @brief Build the hyper-graph representing the TEB optimization problem. + * + * This method creates the optimization problem according to the hyper-graph formulation. \n + * For more details refer to the literature cited in the TebOptimalPlanner class description. + * @see optimizeGraph + * @see clearGraph + * @param weight_multiplier Specify a weight multipler for selected weights in optimizeGraph + * This might be used for weight adapation strategies. + * Currently, only obstacle collision weights are considered. + * @return \c true, if the graph was created successfully, \c false otherwise. + */ + bool buildGraph(double weight_multiplier=1.0); + + /** + * @brief Optimize the previously constructed hyper-graph to deform / optimize the TEB. + * + * This method invokes the g2o framework to solve the optimization problem considering dedicated sparsity patterns. \n + * The current implementation calls a non-constrained sparse Levenberg-Marquardt algorithm. Constraints are considered + * by utilizing penalty approximations. Refer to the literature cited in the TebOptimalPlanner class description. + * @see buildGraph + * @see clearGraph + * @param no_iterations Number of solver iterations + * @param clear_after Clear the graph after optimization. + * @return \c true, if optimization terminates successfully, \c false otherwise. + */ + bool optimizeGraph(int no_iterations, bool clear_after=true); + + /** + * @brief Clear an existing internal hyper-graph. + * @see buildGraph + * @see optimizeGraph + */ + void clearGraph(); + + /** + * @brief Add all relevant vertices to the hyper-graph as optimizable variables. + * + * Vertices (if unfixed) represent the variables that will be optimized. \n + * In case of the Timed-Elastic-Band poses and time differences form the vertices of the hyper-graph. \n + * The order of insertion of vertices (to the graph) is important for efficiency, + * since it affect the sparsity pattern of the underlying hessian computed for optimization. + * @see VertexPose + * @see VertexTimeDiff + * @see buildGraph + * @see optimizeGraph + */ + void AddTEBVertices(); + + /** + * @brief Add all edges (local cost functions) for limiting the translational and angular velocity. + * @see EdgeVelocity + * @see buildGraph + * @see optimizeGraph + */ + void AddEdgesVelocity(); + + /** + * @brief Add all edges (local cost functions) for limiting the translational and angular acceleration. + * @see EdgeAcceleration + * @see EdgeAccelerationStart + * @see EdgeAccelerationGoal + * @see buildGraph + * @see optimizeGraph + */ + void AddEdgesAcceleration(); + + /** + * @brief Add all edges (local cost functions) for minimizing the transition time (resp. minimize time differences) + * @see EdgeTimeOptimal + * @see buildGraph + * @see optimizeGraph + */ + void AddEdgesTimeOptimal(); + + /** + * @brief Add all edges (local cost functions) for minimizing the path length + * @see EdgeShortestPath + * @see buildGraph + * @see optimizeGraph + */ + void AddEdgesShortestPath(); + + /** + * @brief Add all edges (local cost functions) related to keeping a distance from static obstacles + * @warning do not combine with AddEdgesInflatedObstacles + * @see EdgeObstacle + * @see buildGraph + * @see optimizeGraph + * @param weight_multiplier Specify an additional weight multipler (in addition to the the config weight) + */ + void AddEdgesObstacles(double weight_multiplier=1.0); + + /** + * @brief Add all edges (local cost functions) related to keeping a distance from static obstacles (legacy association strategy) + * @see EdgeObstacle + * @see buildGraph + * @see optimizeGraph + * @param weight_multiplier Specify an additional weight multipler (in addition to the the config weight) + */ + void AddEdgesObstaclesLegacy(double weight_multiplier=1.0); + + /** + * @brief Add all edges (local cost functions) related to minimizing the distance to via-points + * @see EdgeViaPoint + * @see buildGraph + * @see optimizeGraph + */ + void AddEdgesViaPoints(); + + /** + * @brief Add all edges (local cost functions) related to keeping a distance from dynamic (moving) obstacles. + * @warning experimental + * @todo Should we also add neighbors to decrease jiggling/oscillations + * @see EdgeDynamicObstacle + * @see buildGraph + * @see optimizeGraph + * @param weight_multiplier Specify an additional weight multipler (in addition to the the config weight) + + */ + void AddEdgesDynamicObstacles(double weight_multiplier=1.0); + + /** + * @brief Add all edges (local cost functions) for satisfying kinematic constraints of a differential drive robot + * @warning do not combine with AddEdgesKinematicsCarlike() + * @see AddEdgesKinematicsCarlike + * @see buildGraph + * @see optimizeGraph + */ + void AddEdgesKinematicsDiffDrive(); + + /** + * @brief Add all edges (local cost functions) for satisfying kinematic constraints of a carlike robot + * @warning do not combine with AddEdgesKinematicsDiffDrive() + * @see AddEdgesKinematicsDiffDrive + * @see buildGraph + * @see optimizeGraph + */ + void AddEdgesKinematicsCarlike(); + + /** + * @brief Add all edges (local cost functions) for prefering a specifiy turning direction (by penalizing the other one) + * @see buildGraph + * @see optimizeGraph + */ + void AddEdgesPreferRotDir(); + + /** + * @brief Add all edges (local cost function) for reducing the velocity of a vertex due to its associated obstacles + * @see buildGraph + * @see optimizeGraph + */ + void AddEdgesVelocityObstacleRatio(); + + //@} + + + /** + * @brief Initialize and configure the g2o sparse optimizer. + * @return shared pointer to the g2o::SparseOptimizer instance + */ + std::shared_ptr initOptimizer(); + + + // external objects (store weak pointers) + const TebConfig* cfg_; //!< Config class that stores and manages all related parameters + ObstContainer* obstacles_; //!< Store obstacles that are relevant for planning + const ViaPointContainer* via_points_; //!< Store via points for planning + std::vector obstacles_per_vertex_; //!< Store the obstacles associated with the n-1 initial vertices + + double cost_; //!< Store cost value of the current hyper-graph + RotType prefer_rotdir_; //!< Store whether to prefer a specific initial rotation in optimization (might be activated in case the robot oscillates) + + // internal objects (memory management owned) + TebVisualizationPtr visualization_; //!< Instance of the visualization class + TimedElasticBand teb_; //!< Actual trajectory object + RobotFootprintModelPtr robot_model_; //!< Robot model + std::shared_ptr optimizer_; //!< g2o optimizer for trajectory optimization + std::pair vel_start_; //!< Store the initial velocity at the start pose + std::pair vel_goal_; //!< Store the final velocity at the goal pose + + bool initialized_; //!< Keeps track about the correct initialization of this class + bool optimized_; //!< This variable is \c true as long as the last optimization has been completed successful + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +//! Abbrev. for shared instances of the TebOptimalPlanner +typedef std::shared_ptr TebOptimalPlannerPtr; +//! Abbrev. for shared const TebOptimalPlanner pointers +typedef std::shared_ptr TebOptimalPlannerConstPtr; +//! Abbrev. for containers storing multiple teb optimal planners +typedef std::vector< TebOptimalPlannerPtr > TebOptPlannerContainer; + +} // namespace teb_local_planner + +#endif /* OPTIMAL_PLANNER_H_ */ diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/planner_interface.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/planner_interface.h new file mode 100644 index 0000000..268ba84 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/planner_interface.h @@ -0,0 +1,218 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef PLANNER_INTERFACE_H_ +#define PLANNER_INTERFACE_H_ + +#include + +// ros +#include + +#include +// this package +#include +#include + +#include + +#include + +#include + +// messages +#include +#include +#include + +// this package +#include "teb_local_planner/pose_se2.h" +#include "teb_local_planner/visualization.h" + +namespace teb_local_planner +{ + + +/** + * @class PlannerInterface + * @brief This abstract class defines an interface for local planners + */ +class PlannerInterface +{ +public: + + /** + * @brief Default constructor + */ + PlannerInterface() + { + } + /** + * @brief Virtual destructor. + */ + virtual ~PlannerInterface() + { + } + + + /** @name Plan a trajectory */ + //@{ + + /** + * @brief Plan a trajectory based on an initial reference plan. + * + * Provide this method to create and optimize a trajectory that is initialized + * according to an initial reference plan (given as a container of poses). + * @param initial_plan vector of geometry_msgs::msg::PoseStamped + * @param start_vel Current start velocity (e.g. the velocity of the robot, only linear.x and angular.z are used) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, + * otherwise the final velocity will be zero (default: false) + * @return \c true if planning was successful, \c false otherwise + */ + virtual bool plan(const std::vector& initial_plan, const geometry_msgs::msg::Twist* start_vel = NULL, bool free_goal_vel=false) = 0; + + /** + * @brief Plan a trajectory between a given start and goal pose (tf::Pose version). + * + * Provide this method to create and optimize a trajectory that is initialized between a given start and goal pose. + * @param start tf::Pose containing the start pose of the trajectory + * @param goal tf::Pose containing the goal pose of the trajectory + * @param start_vel Current start velocity (e.g. the velocity of the robot, only linear.x and angular.z are used) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, + * otherwise the final velocity will be zero (default: false) + * @return \c true if planning was successful, \c false otherwise + */ + // tf2 doesn't have tf2::Pose + //virtual bool plan(const tf::Pose& start, const tf::Pose& goal, const geometry_msgs::msg::Twist* start_vel = NULL, bool free_goal_vel=false) = 0; + + /** + * @brief Plan a trajectory between a given start and goal pose. + * + * Provide this method to create and optimize a trajectory that is initialized between a given start and goal pose. + * @param start PoseSE2 containing the start pose of the trajectory + * @param goal PoseSE2 containing the goal pose of the trajectory + * @param start_vel Initial velocity at the start pose (twist msg containing the translational and angular velocity). + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, + * otherwise the final velocity will be zero (default: false) + * @return \c true if planning was successful, \c false otherwise + */ + virtual bool plan(const PoseSE2& start, const PoseSE2& goal, const geometry_msgs::msg::Twist* start_vel = NULL, bool free_goal_vel=false) = 0; + + /** + * @brief Get the velocity command from a previously optimized plan to control the robot at the current sampling interval. + * @warning Call plan() first and check if the generated plan is feasible. + * @param[out] vx translational velocity [m/s] + * @param[out] vy strafing velocity which can be nonzero for holonomic robots [m/s] + * @param[out] omega rotational velocity [rad/s] + * @param[in] look_ahead_poses index of the final pose used to compute the velocity command. + * @return \c true if command is valid, \c false otherwise + */ + virtual bool getVelocityCommand(double& vx, double& vy, double& omega, int look_ahead_poses) const = 0; + + //@} + + + /** + * @brief Reset the planner. + */ + virtual void clearPlanner() = 0; + + /** + * @brief Prefer a desired initial turning direction (by penalizing the opposing one) + * + * A desired (initial) turning direction might be specified in case the planned trajectory oscillates between two + * solutions (in the same equivalence class!) with similar cost. Check the parameters in order to adjust the weight of the penalty. + * Initial means that the penalty is applied only to the first few poses of the trajectory. + * @param dir This parameter might be RotType::left (prefer left), RotType::right (prefer right) or RotType::none (prefer none) + */ + virtual void setPreferredTurningDir(RotType dir) { + RCLCPP_WARN(rclcpp::get_logger("teb_local_planner"), + "setPreferredTurningDir() not implemented for this planner.");} + + /** + * @brief Visualize planner specific stuff. + * Overwrite this method to provide an interface to perform all planner related visualizations at once. + */ + virtual void visualize() + { + } + + virtual void setVisualization(const TebVisualizationPtr & visualization) = 0; + + /** + * @brief Check whether the planned trajectory is feasible or not. + * + * This method currently checks only that the trajectory, or a part of the trajectory is collision free. + * Obstacles are here represented as costmap instead of the internal ObstacleContainer. + * @param costmap_model Pointer to the costmap model + * @param footprint_spec The specification of the footprint of the robot in world coordinates + * @param inscribed_radius The radius of the inscribed circle of the robot + * @param circumscribed_radius The radius of the circumscribed circle of the robot + * @param look_ahead_idx Number of poses along the trajectory that should be verified, if -1, the complete trajectory will be checked. + * @return \c true, if the robot footprint along the first part of the trajectory intersects with + * any obstacle in the costmap, \c false otherwise. + */ + virtual bool isTrajectoryFeasible(dwb_critics::ObstacleFootprintCritic* costmap_model, const std::vector& footprint_spec, + double inscribed_radius = 0.0, double circumscribed_radius=0.0, int look_ahead_idx=-1, double feasibility_check_lookahead_distance=-1.0) = 0; + + /** + * Compute and return the cost of the current optimization graph (supports multiple trajectories) + * @param[out] cost current cost value for each trajectory + * [for a planner with just a single trajectory: size=1, vector will not be cleared] + * @param obst_cost_scale Specify extra scaling for obstacle costs + * @param alternative_time_cost Replace the cost for the time optimal objective by the actual (weighted) transition time + */ + virtual void computeCurrentCost(std::vector& cost, double obst_cost_scale=1.0, bool alternative_time_cost=false) + { + } + + /** + * @brief Returns true if the planner has diverged. + */ + virtual bool hasDiverged() const = 0; + + nav2_util::LifecycleNode::SharedPtr node_{nullptr}; +}; + +//! Abbrev. for shared instances of PlannerInterface or it's subclasses +typedef std::shared_ptr PlannerInterfacePtr; + + +} // namespace teb_local_planner + +#endif /* PLANNER_INTERFACE_H__ */ diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/pose_se2.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/pose_se2.h new file mode 100755 index 0000000..55888c7 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/pose_se2.h @@ -0,0 +1,433 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef POSE_SE2_H_ +#define POSE_SE2_H_ + +#include + +#include +#include "teb_local_planner/misc.h" +#include +#include + +#include +#include +#include + +namespace teb_local_planner +{ + +/** + * @class PoseSE2 + * @brief This class implements a pose in the domain SE2: \f$ \mathbb{R}^2 \times S^1 \f$ + * The pose consist of the position x and y and an orientation given as angle theta [-pi, pi]. + */ +class PoseSE2 +{ +public: + + /** @name Construct PoseSE2 instances */ + ///@{ + + /** + * @brief Default constructor + */ + PoseSE2() + { + setZero(); + } + + /** + * @brief Construct pose given a position vector and an angle theta + * @param position 2D position vector + * @param theta angle given in rad + */ + PoseSE2(const Eigen::Ref& position, double theta) + { + _position = position; + _theta = theta; + } + + /** + * @brief Construct pose using single components x, y, and the yaw angle + * @param x x-coordinate + * @param y y-coordinate + * @param theta yaw angle in rad + */ + PoseSE2(double x, double y, double theta) + { + _position.coeffRef(0) = x; + _position.coeffRef(1) = y; + _theta = theta; + } + + /** + * @brief Construct pose using a geometry_msgs::msg::Pose + * @param pose geometry_msgs::msg::Pose object + */ + PoseSE2(const geometry_msgs::msg::PoseStamped& pose) + :PoseSE2(pose.pose) + { + + } + + /** + * @brief Construct pose using a geometry_msgs::msg::Pose + * @param pose geometry_msgs::msg::Pose object + */ + PoseSE2(const geometry_msgs::msg::Pose& pose) + { + _position.coeffRef(0) = pose.position.x; + _position.coeffRef(1) = pose.position.y; + _theta = tf2::getYaw( pose.orientation ); + } + + /** + * @brief Construct pose using a geometry_msgs::msg::Pose2D + * @param pose geometry_msgs::msg::Pose2D object + */ + PoseSE2(const geometry_msgs::msg::Pose2D& pose) + { + _position.coeffRef(0) = pose.x; + _position.coeffRef(1) = pose.y; + _theta = pose.theta; + } + + /** + * @brief Copy constructor + * @param pose PoseSE2 instance + */ + PoseSE2(const PoseSE2& pose) + { + _position = pose._position; + _theta = pose._theta; + } + + ///@} + + + /** + * @brief Destructs the PoseSE2 + */ + ~PoseSE2() {} + + + /** @name Access and modify values */ + ///@{ + + /** + * @brief Access the 2D position part + * @see estimate + * @return reference to the 2D position part + */ + Eigen::Vector2d& position() {return _position;} + + /** + * @brief Access the 2D position part (read-only) + * @see estimate + * @return const reference to the 2D position part + */ + const Eigen::Vector2d& position() const {return _position;} + + /** + * @brief Access the x-coordinate the pose + * @return reference to the x-coordinate + */ + double& x() {return _position.coeffRef(0);} + + /** + * @brief Access the x-coordinate the pose (read-only) + * @return const reference to the x-coordinate + */ + const double& x() const {return _position.coeffRef(0);} + + /** + * @brief Access the y-coordinate the pose + * @return reference to the y-coordinate + */ + double& y() {return _position.coeffRef(1);} + + /** + * @brief Access the y-coordinate the pose (read-only) + * @return const reference to the y-coordinate + */ + const double& y() const {return _position.coeffRef(1);} + + /** + * @brief Access the orientation part (yaw angle) of the pose + * @return reference to the yaw angle + */ + double& theta() {return _theta;} + + /** + * @brief Access the orientation part (yaw angle) of the pose (read-only) + * @return const reference to the yaw angle + */ + const double& theta() const {return _theta;} + + /** + * @brief Set pose to [0,0,0] + */ + void setZero() + { + _position.setZero(); + _theta = 0; + } + + /** + * @brief Convert PoseSE2 to a geometry_msgs::msg::Pose + * @param[out] pose Pose message + */ + void toPoseMsg(geometry_msgs::msg::Pose& pose) const + { + pose.position.x = _position.x(); + pose.position.y = _position.y(); + pose.position.z = 0; + tf2::Quaternion q; + q.setRPY(0, 0, _theta); + pose.orientation = tf2::toMsg(q); + } + + /** + * @brief Convert PoseSE2 to a geometry_msgs::msg::Pose2D + * @param[out] pose Pose message + */ + void toPoseMsg(geometry_msgs::msg::Pose2D& pose) const + { + pose.x = _position.x(); + pose.y = _position.y(); + pose.theta = _theta; + } + + /** + * @brief Return the unit vector of the current orientation + * @returns [cos(theta), sin(theta))]^T + */ + Eigen::Vector2d orientationUnitVec() const {return Eigen::Vector2d(std::cos(_theta), std::sin(_theta));} + + ///@} + + + /** @name Arithmetic operations for which operators are not always reasonable */ + ///@{ + + /** + * @brief Scale all SE2 components (x,y,theta) and normalize theta afterwards to [-pi, pi] + * @param factor scale factor + */ + void scale(double factor) + { + _position *= factor; + _theta = g2o::normalize_theta( _theta*factor ); + } + + /** + * @brief Increment the pose by adding a double[3] array + * The angle is normalized afterwards + * @param pose_as_array 3D double array [x, y, theta] + */ + void plus(const double* pose_as_array) + { + _position.coeffRef(0) += pose_as_array[0]; + _position.coeffRef(1) += pose_as_array[1]; + _theta = g2o::normalize_theta( _theta + pose_as_array[2] ); + } + + /** + * @brief Get the mean / average of two poses and store it in the caller class + * For the position part: 0.5*(x1+x2) + * For the angle: take the angle of the mean direction vector + * @param pose1 first pose to consider + * @param pose2 second pose to consider + */ + void averageInPlace(const PoseSE2& pose1, const PoseSE2& pose2) + { + _position = (pose1._position + pose2._position)/2; + _theta = g2o::average_angle(pose1._theta, pose2._theta); + } + + /** + * @brief Get the mean / average of two poses and return the result (static) + * For the position part: 0.5*(x1+x2) + * For the angle: take the angle of the mean direction vector + * @param pose1 first pose to consider + * @param pose2 second pose to consider + * @return mean / average of \c pose1 and \c pose2 + */ + static PoseSE2 average(const PoseSE2& pose1, const PoseSE2& pose2) + { + return PoseSE2( (pose1._position + pose2._position)/2 , g2o::average_angle(pose1._theta, pose2._theta) ); + } + + /** + * @brief Rotate pose globally + * + * Compute [pose_x, pose_y] = Rot(\c angle) * [pose_x, pose_y]. + * if \c adjust_theta, pose_theta is also rotated by \c angle + * @param angle the angle defining the 2d rotation + * @param adjust_theta if \c true, the orientation theta is also rotated + */ + void rotateGlobal(double angle, bool adjust_theta=true) + { + double new_x = std::cos(angle)*_position.x() - std::sin(angle)*_position.y(); + double new_y = std::sin(angle)*_position.x() + std::cos(angle)*_position.y(); + _position.x() = new_x; + _position.y() = new_y; + if (adjust_theta) + _theta = g2o::normalize_theta(_theta+angle); + } + + ///@} + + + /** @name Operator overloads / Allow some arithmetic operations */ + ///@{ + + /** + * @brief Asignment operator + * @param rhs PoseSE2 instance + * @todo exception safe version of the assignment operator + */ + PoseSE2& operator=( const PoseSE2& rhs ) + { + if (&rhs != this) + { + _position = rhs._position; + _theta = rhs._theta; + } + return *this; + } + + /** + * @brief Compound assignment operator (addition) + * @param rhs addend + */ + PoseSE2& operator+=(const PoseSE2& rhs) + { + _position += rhs._position; + _theta = g2o::normalize_theta(_theta + rhs._theta); + return *this; + } + + /** + * @brief Arithmetic operator overload for additions + * @param lhs First addend + * @param rhs Second addend + */ + friend PoseSE2 operator+(PoseSE2 lhs, const PoseSE2& rhs) + { + return lhs += rhs; + } + + /** + * @brief Compound assignment operator (subtraction) + * @param rhs value to subtract + */ + PoseSE2& operator-=(const PoseSE2& rhs) + { + _position -= rhs._position; + _theta = g2o::normalize_theta(_theta - rhs._theta); + return *this; + } + + /** + * @brief Arithmetic operator overload for subtractions + * @param lhs First term + * @param rhs Second term + */ + friend PoseSE2 operator-(PoseSE2 lhs, const PoseSE2& rhs) + { + return lhs -= rhs; + } + + /** + * @brief Multiply pose with scalar and return copy without normalizing theta + * This operator is useful for calculating velocities ... + * @param pose pose to scale + * @param scalar factor to multiply with + * @warning theta is not normalized after multiplying + */ + friend PoseSE2 operator*(PoseSE2 pose, double scalar) + { + pose._position *= scalar; + pose._theta *= scalar; + return pose; + } + + /** + * @brief Multiply pose with scalar and return copy without normalizing theta + * This operator is useful for calculating velocities ... + * @param scalar factor to multiply with + * @param pose pose to scale + * @warning theta is not normalized after multiplying + */ + friend PoseSE2 operator*(double scalar, PoseSE2 pose) + { + pose._position *= scalar; + pose._theta *= scalar; + return pose; + } + + /** + * @brief Output stream operator + * @param stream output stream + * @param pose to be used + */ + friend std::ostream& operator<< (std::ostream& stream, const PoseSE2& pose) + { + stream << "x: " << pose._position[0] << " y: " << pose._position[1] << " theta: " << pose._theta; + return stream; + } + + ///@} + + +private: + + Eigen::Vector2d _position; + double _theta; + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + +} // namespace teb_local_planner + +#endif // POSE_SE2_H_ diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/recovery_behaviors.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/recovery_behaviors.h new file mode 100644 index 0000000..2e7607d --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/recovery_behaviors.h @@ -0,0 +1,134 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef RECOVERY_BEHAVIORS_H__ +#define RECOVERY_BEHAVIORS_H__ + + +#include +#include +#include + +namespace teb_local_planner +{ + + +/** + * @class FailureDetector + * @brief This class implements methods in order to detect if the robot got stucked or is oscillating + * + * The StuckDetector analyzes the last N commanded velocities in order to detect whether the robot + * might got stucked or oscillates between left/right/forward/backwards motions. + */ +class FailureDetector +{ +public: + + /** + * @brief Default constructor + */ + FailureDetector() {} + + /** + * @brief destructor. + */ + ~FailureDetector() {} + + /** + * @brief Set buffer length (measurement history) + * @param length number of measurements to be kept + */ + void setBufferLength(int length) {buffer_.set_capacity(length);} + + /** + * @brief Add a new twist measurement to the internal buffer and compute a new decision + * @param twist geometry_msgs::msg::Twist velocity information + * @param v_max maximum forward translational velocity + * @param v_backwards_max maximum backward translational velocity + * @param omega_max maximum angular velocity + * @param v_eps Threshold for the average normalized linear velocity in (0,1) that must not be exceded (e.g. 0.1) + * @param omega_eps Threshold for the average normalized angular velocity in (0,1) that must not be exceded (e.g. 0.1) + */ + void update(const geometry_msgs::msg::Twist& twist, double v_max, double v_backwards_max, double omega_max, double v_eps, double omega_eps); + + /** + * @brief Check if the robot got stucked + * + * This call does not compute the actual decision, + * since it is computed within each update() invocation. + * @return true if the robot got stucked, false otherwise. + */ + bool isOscillating() const; + + /** + * @brief Clear the current internal state + * + * This call also resets the internal buffer + */ + void clear(); + +protected: + + /** Variables to be monitored */ + struct VelMeasurement + { + double v = 0; + double omega = 0; + }; + + /** + * @brief Detect if the robot got stucked based on the current buffer content + * + * Afterwards the status might be checked using gotStucked(); + * @param v_eps Threshold for the average normalized linear velocity in (0,1) that must not be exceded (e.g. 0.1) + * @param omega_eps Threshold for the average normalized angular velocity in (0,1) that must not be exceded (e.g. 0.1) + * @return true if the robot got stucked, false otherwise + */ + bool detect(double v_eps, double omega_eps); + +private: + + boost::circular_buffer buffer_; //!< Circular buffer to store the last measurements @see setBufferLength + bool oscillating_ = false; //!< Current state: true if robot is oscillating + +}; + + +} // namespace teb_local_planner + +#endif /* RECOVERY_BEHAVIORS_H__ */ diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/robot_footprint_model.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/robot_footprint_model.h new file mode 100644 index 0000000..65200f2 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/robot_footprint_model.h @@ -0,0 +1,684 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + + +#ifndef ROBOT_FOOTPRINT_MODEL_H +#define ROBOT_FOOTPRINT_MODEL_H + +#include "teb_local_planner/pose_se2.h" +#include "teb_local_planner/obstacles.h" +#include + +namespace teb_local_planner +{ + +/** + * @class BaseRobotFootprintModel + * @brief Abstract class that defines the interface for robot footprint/contour models + * + * The robot model class is currently used in optimization only, since + * taking the navigation stack footprint into account might be + * inefficient. The footprint is only used for checking feasibility. + */ +class BaseRobotFootprintModel +{ +public: + + /** + * @brief Default constructor of the abstract obstacle class + */ + BaseRobotFootprintModel() + { + } + + /** + * @brief Virtual destructor. + */ + virtual ~BaseRobotFootprintModel() + { + } + + + /** + * @brief Calculate the distance between the robot and an obstacle + * @param current_pose Current robot pose + * @param obstacle Pointer to the obstacle + * @return Euclidean distance to the robot + */ + virtual double calculateDistance(const PoseSE2& current_pose, const Obstacle* obstacle) const = 0; + + /** + * @brief Estimate the distance between the robot and the predicted location of an obstacle at time t + * @param current_pose robot pose, from which the distance to the obstacle is estimated + * @param obstacle Pointer to the dynamic obstacle (constant velocity model is assumed) + * @param t time, for which the predicted distance to the obstacle is calculated + * @return Euclidean distance to the robot + */ + virtual double estimateSpatioTemporalDistance(const PoseSE2& current_pose, const Obstacle* obstacle, double t) const = 0; + + /** + * @brief Visualize the robot using a markers + * + * Fill a marker message with all necessary information (type, pose, scale and color). + * The header, namespace, id and marker lifetime will be overwritten. + * @param current_pose Current robot pose + * @param[out] markers container of marker messages describing the robot shape + * @param color Color of the footprint + */ + virtual void visualizeRobot(const PoseSE2& current_pose, std::vector& markers, const std_msgs::msg::ColorRGBA& color) const {} + + + /** + * @brief Compute the inscribed radius of the footprint model + * @return inscribed radius + */ + virtual double getInscribedRadius() = 0; + + + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + +//! Abbrev. for shared obstacle pointers +typedef std::shared_ptr RobotFootprintModelPtr; +//! Abbrev. for shared obstacle const pointers +typedef std::shared_ptr RobotFootprintModelConstPtr; + + + +/** + * @class PointRobotShape + * @brief Class that defines a point-robot + * + * Instead of using a CircularRobotFootprint this class might + * be utitilzed and the robot radius can be added to the mininum distance + * parameter. This avoids a subtraction of zero each time a distance is calculated. + */ +class PointRobotFootprint : public BaseRobotFootprintModel +{ +public: + + /** + * @brief Default constructor of the abstract obstacle class + */ + PointRobotFootprint() {} + + /** + * @brief Virtual destructor. + */ + virtual ~PointRobotFootprint() {} + + /** + * @brief Calculate the distance between the robot and an obstacle + * @param current_pose Current robot pose + * @param obstacle Pointer to the obstacle + * @return Euclidean distance to the robot + */ + virtual double calculateDistance(const PoseSE2& current_pose, const Obstacle* obstacle) const + { + return obstacle->getMinimumDistance(current_pose.position()); + } + + /** + * @brief Estimate the distance between the robot and the predicted location of an obstacle at time t + * @param current_pose robot pose, from which the distance to the obstacle is estimated + * @param obstacle Pointer to the dynamic obstacle (constant velocity model is assumed) + * @param t time, for which the predicted distance to the obstacle is calculated + * @return Euclidean distance to the robot + */ + virtual double estimateSpatioTemporalDistance(const PoseSE2& current_pose, const Obstacle* obstacle, double t) const + { + return obstacle->getMinimumSpatioTemporalDistance(current_pose.position(), t); + } + + /** + * @brief Compute the inscribed radius of the footprint model + * @return inscribed radius + */ + virtual double getInscribedRadius() {return 0.0;} + +}; + + +/** + * @class CircularRobotFootprint + * @brief Class that defines the a robot of circular shape + */ +class CircularRobotFootprint : public BaseRobotFootprintModel +{ +public: + + /** + * @brief Default constructor of the abstract obstacle class + * @param radius radius of the robot + */ + CircularRobotFootprint(double radius) : radius_(radius) { } + + /** + * @brief Virtual destructor. + */ + virtual ~CircularRobotFootprint() { } + + /** + * @brief Set radius of the circular robot + * @param radius radius of the robot + */ + void setRadius(double radius) {radius_ = radius;} + + /** + * @brief Calculate the distance between the robot and an obstacle + * @param current_pose Current robot pose + * @param obstacle Pointer to the obstacle + * @return Euclidean distance to the robot + */ + virtual double calculateDistance(const PoseSE2& current_pose, const Obstacle* obstacle) const + { + return obstacle->getMinimumDistance(current_pose.position()) - radius_; + } + + /** + * @brief Estimate the distance between the robot and the predicted location of an obstacle at time t + * @param current_pose robot pose, from which the distance to the obstacle is estimated + * @param obstacle Pointer to the dynamic obstacle (constant velocity model is assumed) + * @param t time, for which the predicted distance to the obstacle is calculated + * @return Euclidean distance to the robot + */ + virtual double estimateSpatioTemporalDistance(const PoseSE2& current_pose, const Obstacle* obstacle, double t) const + { + return obstacle->getMinimumSpatioTemporalDistance(current_pose.position(), t) - radius_; + } + + /** + * @brief Visualize the robot using a markers + * + * Fill a marker message with all necessary information (type, pose, scale and color). + * The header, namespace, id and marker lifetime will be overwritten. + * @param current_pose Current robot pose + * @param[out] markers container of marker messages describing the robot shape + * @param color Color of the footprint + */ + virtual void visualizeRobot(const PoseSE2& current_pose, std::vector& markers, const std_msgs::msg::ColorRGBA& color) const + { + markers.resize(1); + visualization_msgs::msg::Marker& marker = markers.back(); + marker.type = visualization_msgs::msg::Marker::CYLINDER; + current_pose.toPoseMsg(marker.pose); + marker.scale.x = marker.scale.y = 2*radius_; // scale = diameter + marker.scale.z = 0.05; + marker.color = color; + } + + /** + * @brief Compute the inscribed radius of the footprint model + * @return inscribed radius + */ + virtual double getInscribedRadius() {return radius_;} + +private: + + double radius_; +}; + + +/** + * @class TwoCirclesRobotFootprint + * @brief Class that approximates the robot with two shifted circles + */ +class TwoCirclesRobotFootprint : public BaseRobotFootprintModel +{ +public: + + /** + * @brief Default constructor of the abstract obstacle class + * @param front_offset shift the center of the front circle along the robot orientation starting from the center at the rear axis (in meters) + * @param front_radius radius of the front circle + * @param rear_offset shift the center of the rear circle along the opposite robot orientation starting from the center at the rear axis (in meters) + * @param rear_radius radius of the front circle + */ + TwoCirclesRobotFootprint(double front_offset, double front_radius, double rear_offset, double rear_radius) + : front_offset_(front_offset), front_radius_(front_radius), rear_offset_(rear_offset), rear_radius_(rear_radius) { } + + /** + * @brief Virtual destructor. + */ + virtual ~TwoCirclesRobotFootprint() { } + + /** + * @brief Set parameters of the contour/footprint + * @param front_offset shift the center of the front circle along the robot orientation starting from the center at the rear axis (in meters) + * @param front_radius radius of the front circle + * @param rear_offset shift the center of the rear circle along the opposite robot orientation starting from the center at the rear axis (in meters) + * @param rear_radius radius of the front circle + */ + void setParameters(double front_offset, double front_radius, double rear_offset, double rear_radius) + {front_offset_=front_offset; front_radius_=front_radius; rear_offset_=rear_offset; rear_radius_=rear_radius;} + + /** + * @brief Calculate the distance between the robot and an obstacle + * @param current_pose Current robot pose + * @param obstacle Pointer to the obstacle + * @return Euclidean distance to the robot + */ + virtual double calculateDistance(const PoseSE2& current_pose, const Obstacle* obstacle) const + { + Eigen::Vector2d dir = current_pose.orientationUnitVec(); + double dist_front = obstacle->getMinimumDistance(current_pose.position() + front_offset_*dir) - front_radius_; + double dist_rear = obstacle->getMinimumDistance(current_pose.position() - rear_offset_*dir) - rear_radius_; + return std::min(dist_front, dist_rear); + } + + /** + * @brief Estimate the distance between the robot and the predicted location of an obstacle at time t + * @param current_pose robot pose, from which the distance to the obstacle is estimated + * @param obstacle Pointer to the dynamic obstacle (constant velocity model is assumed) + * @param t time, for which the predicted distance to the obstacle is calculated + * @return Euclidean distance to the robot + */ + virtual double estimateSpatioTemporalDistance(const PoseSE2& current_pose, const Obstacle* obstacle, double t) const + { + Eigen::Vector2d dir = current_pose.orientationUnitVec(); + double dist_front = obstacle->getMinimumSpatioTemporalDistance(current_pose.position() + front_offset_*dir, t) - front_radius_; + double dist_rear = obstacle->getMinimumSpatioTemporalDistance(current_pose.position() - rear_offset_*dir, t) - rear_radius_; + return std::min(dist_front, dist_rear); + } + + /** + * @brief Visualize the robot using a markers + * + * Fill a marker message with all necessary information (type, pose, scale and color). + * The header, namespace, id and marker lifetime will be overwritten. + * @param current_pose Current robot pose + * @param[out] markers container of marker messages describing the robot shape + * @param color Color of the footprint + */ + virtual void visualizeRobot(const PoseSE2& current_pose, std::vector& markers, const std_msgs::msg::ColorRGBA& color) const + { + Eigen::Vector2d dir = current_pose.orientationUnitVec(); + if (front_radius_>0) + { + markers.push_back(visualization_msgs::msg::Marker()); + visualization_msgs::msg::Marker& marker1 = markers.front(); + marker1.type = visualization_msgs::msg::Marker::CYLINDER; + current_pose.toPoseMsg(marker1.pose); + marker1.pose.position.x += front_offset_*dir.x(); + marker1.pose.position.y += front_offset_*dir.y(); + marker1.scale.x = marker1.scale.y = 2*front_radius_; // scale = diameter +// marker1.scale.z = 0.05; + marker1.color = color; + + } + if (rear_radius_>0) + { + markers.push_back(visualization_msgs::msg::Marker()); + visualization_msgs::msg::Marker& marker2 = markers.back(); + marker2.type = visualization_msgs::msg::Marker::CYLINDER; + current_pose.toPoseMsg(marker2.pose); + marker2.pose.position.x -= rear_offset_*dir.x(); + marker2.pose.position.y -= rear_offset_*dir.y(); + marker2.scale.x = marker2.scale.y = 2*rear_radius_; // scale = diameter +// marker2.scale.z = 0.05; + marker2.color = color; + } + } + + /** + * @brief Compute the inscribed radius of the footprint model + * @return inscribed radius + */ + virtual double getInscribedRadius() + { + double min_longitudinal = std::min(rear_offset_ + rear_radius_, front_offset_ + front_radius_); + double min_lateral = std::min(rear_radius_, front_radius_); + return std::min(min_longitudinal, min_lateral); + } + +private: + + double front_offset_; + double front_radius_; + double rear_offset_; + double rear_radius_; + +}; + + + +/** + * @class LineRobotFootprint + * @brief Class that approximates the robot with line segment (zero-width) + */ +class LineRobotFootprint : public BaseRobotFootprintModel +{ +public: + + /** + * @brief Default constructor of the abstract obstacle class + * @param line_start start coordinates (only x and y) of the line (w.r.t. robot center at (0,0)) + * @param line_end end coordinates (only x and y) of the line (w.r.t. robot center at (0,0)) + */ + LineRobotFootprint(const geometry_msgs::msg::Point& line_start, const geometry_msgs::msg::Point& line_end) + { + setLine(line_start, line_end); + } + + /** + * @brief Default constructor of the abstract obstacle class (Eigen Version) + * @param line_start start coordinates (only x and y) of the line (w.r.t. robot center at (0,0)) + * @param line_end end coordinates (only x and y) of the line (w.r.t. robot center at (0,0)) + */ + LineRobotFootprint(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end) + { + setLine(line_start, line_end); + } + + /** + * @brief Virtual destructor. + */ + virtual ~LineRobotFootprint() { } + + /** + * @brief Set vertices of the contour/footprint + * @param vertices footprint vertices (only x and y) around the robot center (0,0) (do not repeat the first and last vertex at the end) + */ + void setLine(const geometry_msgs::msg::Point& line_start, const geometry_msgs::msg::Point& line_end) + { + line_start_.x() = line_start.x; + line_start_.y() = line_start.y; + line_end_.x() = line_end.x; + line_end_.y() = line_end.y; + } + + /** + * @brief Set vertices of the contour/footprint (Eigen version) + * @param vertices footprint vertices (only x and y) around the robot center (0,0) (do not repeat the first and last vertex at the end) + */ + void setLine(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end) + { + line_start_ = line_start; + line_end_ = line_end; + } + + /** + * @brief Calculate the distance between the robot and an obstacle + * @param current_pose Current robot pose + * @param obstacle Pointer to the obstacle + * @return Euclidean distance to the robot + */ + virtual double calculateDistance(const PoseSE2& current_pose, const Obstacle* obstacle) const + { + Eigen::Vector2d line_start_world; + Eigen::Vector2d line_end_world; + transformToWorld(current_pose, line_start_world, line_end_world); + return obstacle->getMinimumDistance(line_start_world, line_end_world); + } + + /** + * @brief Estimate the distance between the robot and the predicted location of an obstacle at time t + * @param current_pose robot pose, from which the distance to the obstacle is estimated + * @param obstacle Pointer to the dynamic obstacle (constant velocity model is assumed) + * @param t time, for which the predicted distance to the obstacle is calculated + * @return Euclidean distance to the robot + */ + virtual double estimateSpatioTemporalDistance(const PoseSE2& current_pose, const Obstacle* obstacle, double t) const + { + Eigen::Vector2d line_start_world; + Eigen::Vector2d line_end_world; + transformToWorld(current_pose, line_start_world, line_end_world); + return obstacle->getMinimumSpatioTemporalDistance(line_start_world, line_end_world, t); + } + + /** + * @brief Visualize the robot using a markers + * + * Fill a marker message with all necessary information (type, pose, scale and color). + * The header, namespace, id and marker lifetime will be overwritten. + * @param current_pose Current robot pose + * @param[out] markers container of marker messages describing the robot shape + * @param color Color of the footprint + */ + virtual void visualizeRobot(const PoseSE2& current_pose, std::vector& markers, const std_msgs::msg::ColorRGBA& color) const + { + markers.push_back(visualization_msgs::msg::Marker()); + visualization_msgs::msg::Marker& marker = markers.front(); + marker.type = visualization_msgs::msg::Marker::LINE_STRIP; + current_pose.toPoseMsg(marker.pose); // all points are transformed into the robot frame! + + // line + geometry_msgs::msg::Point line_start_world; + line_start_world.x = line_start_.x(); + line_start_world.y = line_start_.y(); + line_start_world.z = 0; + marker.points.push_back(line_start_world); + + geometry_msgs::msg::Point line_end_world; + line_end_world.x = line_end_.x(); + line_end_world.y = line_end_.y(); + line_end_world.z = 0; + marker.points.push_back(line_end_world); + + marker.scale.x = 0.05; + marker.color = color; + } + + /** + * @brief Compute the inscribed radius of the footprint model + * @return inscribed radius + */ + virtual double getInscribedRadius() + { + return 0.0; // lateral distance = 0.0 + } + +private: + + /** + * @brief Transforms a line to the world frame manually + * @param current_pose Current robot pose + * @param[out] line_start line_start_ in the world frame + * @param[out] line_end line_end_ in the world frame + */ + void transformToWorld(const PoseSE2& current_pose, Eigen::Vector2d& line_start_world, Eigen::Vector2d& line_end_world) const + { + double cos_th = std::cos(current_pose.theta()); + double sin_th = std::sin(current_pose.theta()); + line_start_world.x() = current_pose.x() + cos_th * line_start_.x() - sin_th * line_start_.y(); + line_start_world.y() = current_pose.y() + sin_th * line_start_.x() + cos_th * line_start_.y(); + line_end_world.x() = current_pose.x() + cos_th * line_end_.x() - sin_th * line_end_.y(); + line_end_world.y() = current_pose.y() + sin_th * line_end_.x() + cos_th * line_end_.y(); + } + + Eigen::Vector2d line_start_; + Eigen::Vector2d line_end_; + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + + +/** + * @class PolygonRobotFootprint + * @brief Class that approximates the robot with a closed polygon + */ +class PolygonRobotFootprint : public BaseRobotFootprintModel +{ +public: + + + + /** + * @brief Default constructor of the abstract obstacle class + * @param vertices footprint vertices (only x and y) around the robot center (0,0) (do not repeat the first and last vertex at the end) + */ + PolygonRobotFootprint(const Point2dContainer& vertices) : vertices_(vertices) { } + + /** + * @brief Virtual destructor. + */ + virtual ~PolygonRobotFootprint() { } + + /** + * @brief Set vertices of the contour/footprint + * @param vertices footprint vertices (only x and y) around the robot center (0,0) (do not repeat the first and last vertex at the end) + */ + void setVertices(const Point2dContainer& vertices) {vertices_ = vertices;} + + /** + * @brief Calculate the distance between the robot and an obstacle + * @param current_pose Current robot pose + * @param obstacle Pointer to the obstacle + * @return Euclidean distance to the robot + */ + virtual double calculateDistance(const PoseSE2& current_pose, const Obstacle* obstacle) const + { + Point2dContainer polygon_world(vertices_.size()); + transformToWorld(current_pose, polygon_world); + return obstacle->getMinimumDistance(polygon_world); + } + + /** + * @brief Estimate the distance between the robot and the predicted location of an obstacle at time t + * @param current_pose robot pose, from which the distance to the obstacle is estimated + * @param obstacle Pointer to the dynamic obstacle (constant velocity model is assumed) + * @param t time, for which the predicted distance to the obstacle is calculated + * @return Euclidean distance to the robot + */ + virtual double estimateSpatioTemporalDistance(const PoseSE2& current_pose, const Obstacle* obstacle, double t) const + { + Point2dContainer polygon_world(vertices_.size()); + transformToWorld(current_pose, polygon_world); + return obstacle->getMinimumSpatioTemporalDistance(polygon_world, t); + } + + /** + * @brief Visualize the robot using a markers + * + * Fill a marker message with all necessary information (type, pose, scale and color). + * The header, namespace, id and marker lifetime will be overwritten. + * @param current_pose Current robot pose + * @param[out] markers container of marker messages describing the robot shape + * @param color Color of the footprint + */ + virtual void visualizeRobot(const PoseSE2& current_pose, std::vector& markers, const std_msgs::msg::ColorRGBA& color) const + { + if (vertices_.empty()) + return; + + markers.push_back(visualization_msgs::msg::Marker()); + visualization_msgs::msg::Marker& marker = markers.front(); + marker.type = visualization_msgs::msg::Marker::LINE_STRIP; + current_pose.toPoseMsg(marker.pose); // all points are transformed into the robot frame! + + for (std::size_t i = 0; i < vertices_.size(); ++i) + { + geometry_msgs::msg::Point point; + point.x = vertices_[i].x(); + point.y = vertices_[i].y(); + point.z = 0; + marker.points.push_back(point); + } + // add first point again in order to close the polygon + geometry_msgs::msg::Point point; + point.x = vertices_.front().x(); + point.y = vertices_.front().y(); + point.z = 0; + marker.points.push_back(point); + + marker.scale.x = 0.025; + marker.color = color; + + } + + /** + * @brief Compute the inscribed radius of the footprint model + * @return inscribed radius + */ + virtual double getInscribedRadius() + { + double min_dist = std::numeric_limits::max(); + Eigen::Vector2d center(0.0, 0.0); + + if (vertices_.size() <= 2) + return 0.0; + + for (int i = 0; i < (int)vertices_.size() - 1; ++i) + { + // compute distance from the robot center point to the first vertex + double vertex_dist = vertices_[i].norm(); + double edge_dist = distance_point_to_segment_2d(center, vertices_[i], vertices_[i+1]); + min_dist = std::min(min_dist, std::min(vertex_dist, edge_dist)); + } + + // we also need to check the last vertex and the first vertex + double vertex_dist = vertices_.back().norm(); + double edge_dist = distance_point_to_segment_2d(center, vertices_.back(), vertices_.front()); + return std::min(min_dist, std::min(vertex_dist, edge_dist)); + } + +private: + + /** + * @brief Transforms a polygon to the world frame manually + * @param current_pose Current robot pose + * @param[out] polygon_world polygon in the world frame + */ + void transformToWorld(const PoseSE2& current_pose, Point2dContainer& polygon_world) const + { + double cos_th = std::cos(current_pose.theta()); + double sin_th = std::sin(current_pose.theta()); + for (std::size_t i=0; i +#include +#include +#include +#include +#include +#include "teb_local_planner/robot_footprint_model.h" +#include + +// Definitions +#define USE_ANALYTIC_JACOBI // if available for a specific edge, use analytic jacobi + +namespace teb_local_planner +{ +/** + * @class TebConfig + * @brief Config class for the teb_local_planner and its components. + */ +class TebConfig +{ +public: + using UniquePtr = std::unique_ptr; + + std::string odom_topic; //!< Topic name of the odometry message, provided by the robot driver or simulator + std::string map_frame; //!< Global planning frame + std::string node_name; //!< node name used for parameter event callback + + RobotFootprintModelPtr robot_model; + std::string model_name; + double radius; + std::vector line_start, line_end; + double front_offset, front_radius, rear_offset, rear_radius; + std::string footprint_string; + + //! Trajectory related parameters + struct Trajectory + { + double teb_autosize; //!< Enable automatic resizing of the trajectory w.r.t to the temporal resolution (recommended) + double dt_ref; //!< Desired temporal resolution of the trajectory (should be in the magniture of the underlying control rate) + double dt_hysteresis; //!< Hysteresis for automatic resizing depending on the current temporal resolution (dt): usually 10% of dt_ref + int min_samples; //!< Minimum number of samples (should be always greater than 2) + int max_samples; //!< Maximum number of samples; Warning: if too small the discretization/resolution might not be sufficient for the given robot model or obstacle avoidance does not work anymore. + bool global_plan_overwrite_orientation; //!< Overwrite orientation of local subgoals provided by the global planner + bool allow_init_with_backwards_motion; //!< If true, the underlying trajectories might be initialized with backwards motions in case the goal is behind the start within the local costmap (this is only recommended if the robot is equipped with rear sensors) + double global_plan_viapoint_sep; //!< Min. separation between each two consecutive via-points extracted from the global plan (if negative: disabled) + bool via_points_ordered; //!< If true, the planner adheres to the order of via-points in the storage container + double max_global_plan_lookahead_dist; //!< Specify maximum length (cumulative Euclidean distances) of the subset of the global plan taken into account for optimization [if <=0: disabled; the length is also bounded by the local costmap size!] + double global_plan_prune_distance; //!< Distance between robot and via_points of global plan which is used for pruning + bool exact_arc_length; //!< If true, the planner uses the exact arc length in velocity, acceleration and turning rate computations [-> increased cpu time], otherwise the euclidean approximation is used. + double force_reinit_new_goal_dist; //!< Reinitialize the trajectory if a previous goal is updated with a seperation of more than the specified value in meters (skip hot-starting) + double force_reinit_new_goal_angular; //!< Reinitialize the trajectory if a previous goal is updated with an angular difference of more than the specified value in radians (skip hot-starting) + int feasibility_check_no_poses; //!< Specify up to which pose (under the feasibility_check_lookahead_distance) on the predicted plan the feasibility should be checked each sampling interval; if -1, all poses up to feasibility_check_lookahead_distance are checked. + double feasibility_check_lookahead_distance; //!< Specify up to which distance (and with an index below feasibility_check_no_poses) from the robot the feasibility should be checked each sampling interval; if -1, all poses up to feasibility_check_no_poses are checked. + bool publish_feedback; //!< Publish planner feedback containing the full trajectory and a list of active obstacles (should be enabled only for evaluation or debugging purposes) + double min_resolution_collision_check_angular; //! Min angular resolution used during the costmap collision check. If not respected, intermediate samples are added. [rad] + int control_look_ahead_poses; //! Index of the pose used to extract the velocity command + } trajectory; //!< Trajectory related parameters + + //! Robot related parameters + struct Robot + { + double base_max_vel_x; //!< Maximum translational velocity of the robot before speed limit is applied + double base_max_vel_x_backwards; //!< Maximum translational velocity of the robot for driving backwards before speed limit is applied + double base_max_vel_y; //!< Maximum strafing velocity of the robot (should be zero for non-holonomic robots!) before speed limit is applied + double base_max_vel_theta; //!< Maximum angular velocity of the robot before speed limit is applied + double max_vel_x; //!< Maximum translational velocity of the robot + double max_vel_x_backwards; //!< Maximum translational velocity of the robot for driving backwards + double max_vel_y; //!< Maximum strafing velocity of the robot (should be zero for non-holonomic robots!) + double max_vel_theta; //!< Maximum angular velocity of the robot + double acc_lim_x; //!< Maximum translational acceleration of the robot + double acc_lim_y; //!< Maximum strafing acceleration of the robot + double acc_lim_theta; //!< Maximum angular acceleration of the robot + double min_turning_radius; //!< Minimum turning radius of a carlike robot (diff-drive robot: zero); + double wheelbase; //!< The distance between the drive shaft and steering axle (only required for a carlike robot with 'cmd_angle_instead_rotvel' enabled); The value might be negative for back-wheeled robots! + bool cmd_angle_instead_rotvel; //!< Substitute the rotational velocity in the commanded velocity message by the corresponding steering angle (check 'axles_distance') + bool is_footprint_dynamic; // currently only activated if an oscillation is detected, see 'oscillation_recovery' + + double weight_adapt_factor; //!< Some special weights (currently 'weight_obstacle') are repeatedly scaled by this factor in each outer TEB iteration (weight_new = weight_old*factor); Increasing weights iteratively instead of setting a huge value a-priori leads to better numerical conditions of the underlying optimization problem. + double obstacle_cost_exponent; //!< Exponent for nonlinear obstacle cost (cost = linear_cost * obstacle_cost_exponent). Set to 1 to disable nonlinear cost (default) + } optim; //!< Optimization related parameters + + + struct HomotopyClasses + { + bool enable_homotopy_class_planning; //!< Activate homotopy class planning (Requires much more resources that simple planning, since multiple trajectories are optimized at once). + bool enable_multithreading; //!< Activate multiple threading for planning multiple trajectories in parallel. + bool simple_exploration; //!< If true, distinctive trajectories are explored using a simple left-right approach (pass each obstacle on the left or right side) for path generation, otherwise sample possible roadmaps randomly in a specified region between start and goal. + int max_number_classes; //!< Specify the maximum number of allowed alternative homotopy classes (limits computational effort) + int max_number_plans_in_current_class; //!< Specify the maximum number of trajectories to try that are in the same homotopy class as the current trajectory (helps avoid local minima) + double selection_cost_hysteresis; //!< Specify how much trajectory cost must a new candidate have w.r.t. a previously selected trajectory in order to be selected (selection if new_cost < old_cost*factor). + double selection_prefer_initial_plan; //!< Specify a cost reduction in the interval (0,1) for the trajectory in the equivalence class of the initial plan. + double selection_obst_cost_scale; //!< Extra scaling of obstacle cost terms just for selecting the 'best' candidate. + double selection_viapoint_cost_scale; //!< Extra scaling of via-point cost terms just for selecting the 'best' candidate. + bool selection_alternative_time_cost; //!< If true, time cost is replaced by the total transition time. + double selection_dropping_probability; //!< At each planning cycle, TEBs other than the current 'best' one will be randomly dropped with this probability. Prevents becoming 'fixated' on sub-optimal alternative homotopies. + double switching_blocking_period; //!< Specify a time duration in seconds that needs to be expired before a switch to new equivalence class is allowed + + int roadmap_graph_no_samples; //! < Specify the number of samples generated for creating the roadmap graph, if simple_exploration is turend off. + double roadmap_graph_area_width; //!< Random keypoints/waypoints are sampled in a rectangular region between start and goal. Specify the width of that region in meters. + double roadmap_graph_area_length_scale; //!< The length of the rectangular region is determined by the distance between start and goal. This parameter further scales the distance such that the geometric center remains equal! + double h_signature_prescaler; //!< Scale number of obstacle value in order to allow huge number of obstacles. Do not choose it extremly low, otherwise obstacles cannot be distinguished from each other (0.2 this + } hcp; + + //! Recovery/backup related parameters + struct Recovery + { + bool shrink_horizon_backup; //!< Allows the planner to shrink the horizon temporary (50%) in case of automatically detected issues. + double shrink_horizon_min_duration; //!< Specify minimum duration for the reduced horizon in case an infeasible trajectory is detected. + bool oscillation_recovery; //!< Try to detect and resolve oscillations between multiple solutions in the same equivalence class (robot frequently switches between left/right/forward/backwards) + double oscillation_v_eps; //!< Threshold for the average normalized linear velocity: if oscillation_v_eps and oscillation_omega_eps are not exceeded both, a possible oscillation is detected + double oscillation_omega_eps; //!< Threshold for the average normalized angular velocity: if oscillation_v_eps and oscillation_omega_eps are not exceeded both, a possible oscillation is detected + double oscillation_recovery_min_duration; //!< Minumum duration [sec] for which the recovery mode is activated after an oscillation is detected. + double oscillation_filter_duration; //!< Filter length/duration [sec] for the detection of oscillations + bool divergence_detection_enable; //!< True to enable divergence detection. + int divergence_detection_max_chi_squared; //!< Maximum acceptable Mahalanobis distance above which it is assumed that the optimization diverged. + } recovery; //!< Parameters related to recovery and backup strategies + + + /** + * @brief Construct the TebConfig using default values. + * @warning If the \b rosparam server or/and \b dynamic_reconfigure (rqt_reconfigure) node are used, + * the default variables will be overwritten: \n + * E.g. if \e base_local_planner is utilized as plugin for the navigation stack, the initialize() method will register a + * dynamic_reconfigure server. A subset (not all but most) of the parameters are considered for dynamic modifications. + * All parameters considered by the dynamic_reconfigure server (and their \b default values) are + * set in \e PROJECT_SRC/cfg/TebLocalPlannerReconfigure.cfg. \n + * In addition the rosparam server can be queried to get parameters e.g. defiend in a launch file. + * The plugin source (or a possible binary source) can call loadRosParamFromNodeHandle() to update the parameters. + * In \e summary, default parameters are loaded in the following order (the right one overrides the left ones): \n + * TebConfig Constructor defaults << dynamic_reconfigure defaults << rosparam server defaults + */ + TebConfig() + { + + odom_topic = "odom"; + map_frame = "odom"; + + // Trajectory + + trajectory.teb_autosize = true; + trajectory.dt_ref = 0.3; + trajectory.dt_hysteresis = 0.1; + trajectory.min_samples = 3; + trajectory.max_samples = 500; + trajectory.global_plan_overwrite_orientation = true; + trajectory.allow_init_with_backwards_motion = false; + trajectory.global_plan_viapoint_sep = -1; + trajectory.via_points_ordered = false; + trajectory.max_global_plan_lookahead_dist = 1; + trajectory.global_plan_prune_distance = 1; + trajectory.exact_arc_length = false; + trajectory.force_reinit_new_goal_dist = 1; + trajectory.force_reinit_new_goal_angular = 0.5 * M_PI; + trajectory.feasibility_check_no_poses = 5; + trajectory.feasibility_check_lookahead_distance = -1; + trajectory.publish_feedback = false; + trajectory.min_resolution_collision_check_angular = M_PI; + trajectory.control_look_ahead_poses = 1; + + // Robot + + robot.max_vel_x = 0.4; + robot.max_vel_x_backwards = 0.2; + robot.max_vel_y = 0.0; + robot.max_vel_theta = 0.3; + robot.base_max_vel_x = robot.max_vel_x; + robot.base_max_vel_x_backwards = robot.base_max_vel_x_backwards; + robot.base_max_vel_y = robot.base_max_vel_y; + robot.base_max_vel_theta = robot.base_max_vel_theta; + robot.acc_lim_x = 0.5; + robot.acc_lim_y = 0.5; + robot.acc_lim_theta = 0.5; + robot.min_turning_radius = 0; + robot.wheelbase = 1.0; + robot.cmd_angle_instead_rotvel = false; + robot.is_footprint_dynamic = false; + robot.use_proportional_saturation = false; + + // GoalTolerance + + goal_tolerance.xy_goal_tolerance = 0.2; + goal_tolerance.free_goal_vel = false; + + // Obstacles + + obstacles.min_obstacle_dist = 0.5; + obstacles.inflation_dist = 0.6; + obstacles.dynamic_obstacle_inflation_dist = 0.6; + obstacles.include_dynamic_obstacles = true; + obstacles.include_costmap_obstacles = true; + obstacles.costmap_obstacles_behind_robot_dist = 1.5; + obstacles.obstacle_poses_affected = 25; + obstacles.legacy_obstacle_association = false; + obstacles.obstacle_association_force_inclusion_factor = 1.5; + obstacles.obstacle_association_cutoff_factor = 5; + obstacles.costmap_converter_plugin = ""; + obstacles.costmap_converter_spin_thread = true; + obstacles.costmap_converter_rate = 5; + obstacles.obstacle_proximity_ratio_max_vel = 1; + obstacles.obstacle_proximity_lower_bound = 0; + obstacles.obstacle_proximity_upper_bound = 0.5; + + // Optimization + + optim.no_inner_iterations = 5; + optim.no_outer_iterations = 4; + optim.optimization_activate = true; + optim.optimization_verbose = false; + optim.penalty_epsilon = 0.05; + optim.weight_max_vel_x = 2; //1 + optim.weight_max_vel_y = 2; + optim.weight_max_vel_theta = 1; + optim.weight_acc_lim_x = 1; + optim.weight_acc_lim_y = 1; + optim.weight_acc_lim_theta = 1; + optim.weight_kinematics_nh = 1000; + optim.weight_kinematics_forward_drive = 1; + optim.weight_kinematics_turning_radius = 1; + optim.weight_optimaltime = 1; + optim.weight_shortest_path = 0; + optim.weight_obstacle = 50; + optim.weight_inflation = 0.1; + optim.weight_dynamic_obstacle = 50; + optim.weight_dynamic_obstacle_inflation = 0.1; + optim.weight_velocity_obstacle_ratio = 0; + optim.weight_viapoint = 1; + optim.weight_prefer_rotdir = 50; + + optim.weight_adapt_factor = 2.0; + optim.obstacle_cost_exponent = 1.0; + + // Homotopy Class Planner + + hcp.enable_homotopy_class_planning = true; + hcp.enable_multithreading = true; + hcp.simple_exploration = false; + hcp.max_number_classes = 5; + hcp.selection_cost_hysteresis = 1.0; + hcp.selection_prefer_initial_plan = 0.95; + hcp.selection_obst_cost_scale = 100.0; + hcp.selection_viapoint_cost_scale = 1.0; + hcp.selection_alternative_time_cost = false; + hcp.selection_dropping_probability = 0.0; + + hcp.obstacle_keypoint_offset = 0.1; + hcp.obstacle_heading_threshold = 0.45; + hcp.roadmap_graph_no_samples = 15; + hcp.roadmap_graph_area_width = 6; // [m] + hcp.roadmap_graph_area_length_scale = 1.0; + hcp.h_signature_prescaler = 1; + hcp.h_signature_threshold = 0.1; + hcp.switching_blocking_period = 0.0; + + hcp.viapoints_all_candidates = true; + + hcp.visualize_hc_graph = false; + hcp.visualize_with_time_as_z_axis_scale = 0.0; + hcp.delete_detours_backwards = true; + hcp.detours_orientation_tolerance = M_PI / 2.0; + hcp.length_start_orientation_vector = 0.4; + hcp.max_ratio_detours_duration_best_duration = 3.0; + + // Recovery + + recovery.shrink_horizon_backup = true; + recovery.shrink_horizon_min_duration = 10; + recovery.oscillation_recovery = true; + recovery.oscillation_v_eps = 0.1; + recovery.oscillation_omega_eps = 0.1; + recovery.oscillation_recovery_min_duration = 10; + recovery.oscillation_filter_duration = 10; + recovery.divergence_detection_enable = false; + recovery.divergence_detection_max_chi_squared = 10; + } + + void declareParameters(const nav2_util::LifecycleNode::SharedPtr, const std::string name); + + /** + * @brief Load parmeters from the ros param server. + * @param nh const reference to the local rclcpp::Node::SharedPtr + */ + void loadRosParamFromNodeHandle(const nav2_util::LifecycleNode::SharedPtr nh, const std::string name); + + /** + * @brief Callback executed when a paramter change is detected + * @param parameters list of changed parameters + */ + rcl_interfaces::msg::SetParametersResult + dynamicParametersCallback(std::vector parameters); + + /** + * @brief Check parameters and print warnings in case of discrepancies + * + * Call this method whenever parameters are changed using public interfaces to inform the user + * about some improper uses. + */ + void checkParameters() const; + + /** + * @brief Check if some deprecated parameters are found and print warnings + * @param nh const reference to the local rclcpp::Node::SharedPtr + */ + void checkDeprecated(const nav2_util::LifecycleNode::SharedPtr nh, const std::string name) const; + + /** + * @brief Return the internal config mutex + */ + std::mutex& configMutex() {return config_mutex_;} + +private: + std::mutex config_mutex_; //!< Mutex for config accesses and changes + rclcpp::Logger logger_{rclcpp::get_logger("TEBLocalPlanner")}; +}; +} // namespace teb_local_planner + +#endif diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h new file mode 100644 index 0000000..5e67792 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h @@ -0,0 +1,426 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef TEB_LOCAL_PLANNER_ROS_H_ +#define TEB_LOCAL_PLANNER_ROS_H_ + +#include + +#include + +// Navigation2 local planner base class and utilities +#include + +// timed-elastic-band related classes +#include "teb_local_planner/optimal_planner.h" +#include "teb_local_planner/homotopy_class_planner.h" +#include "teb_local_planner/visualization.h" +#include "teb_local_planner/recovery_behaviors.h" + +// message types +#include +#include +#include +#include +#include +#include + +// transforms +#include +#include + +// costmap +#include +#include "nav2_costmap_2d/costmap_filters/filter_values.hpp" + +#include +#include +#include +#include "rcl_interfaces/msg/set_parameters_result.hpp" +// dynamic reconfigure +//#include "teb_local_planner/TebLocalPlannerReconfigureConfig.h> +//#include + + +namespace teb_local_planner +{ +using TFBufferPtr = std::shared_ptr; +using CostmapROSPtr = std::shared_ptr; + +/** + * @class TebLocalPlannerROS + * @brief Implements the actual abstract navigation stack routines of the teb_local_planner plugin + * @todo Escape behavior, more efficient obstacle handling + */ +class TebLocalPlannerROS : public nav2_core::Controller +{ + +public: + /** + * @brief Constructor of the teb plugin + */ + TebLocalPlannerROS(); + + /** + * @brief Destructor of the plugin + */ + ~TebLocalPlannerROS(); + + /** + * @brief Configure the teb plugin + * + * @param node The node of the instance + * @param tf Pointer to a transform listener + * @param costmap_ros Cost map representing occupied and free space + */ + void configure( + const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent, + std::string name, + std::shared_ptr tf, + std::shared_ptr costmap_ros) override; + void activate() override; + void deactivate() override; + void cleanup() override; + + /** + * @brief Initializes the teb plugin + */ + void initialize(nav2_util::LifecycleNode::SharedPtr node); + + /** + * @brief Set the plan that the teb local planner is following + * @param orig_global_plan The plan to pass to the local planner + * @return + */ + void setPlan(const nav_msgs::msg::Path & orig_global_plan) override; + + /** + * @brief Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base + * @param pose is the current position + * @param velocity is the current velocity + * @return velocity commands to send to the base + */ + geometry_msgs::msg::TwistStamped computeVelocityCommands( + const geometry_msgs::msg::PoseStamped &pose, + const geometry_msgs::msg::Twist &velocity, + nav2_core::GoalChecker * goal_checker); + + + /** @name Public utility functions/methods */ + //@{ + + /** + * @brief Transform a tf::Pose type into a Eigen::Vector2d containing the translational and angular velocities. + * + * Translational velocities (x- and y-coordinates) are combined into a single translational velocity (first component). + * @param tf_vel tf::Pose message containing a 1D or 2D translational velocity (x,y) and an angular velocity (yaw-angle) + * @return Translational and angular velocity combined into an Eigen::Vector2d + */ +// static Eigen::Vector2d tfPoseToEigenVector2dTransRot(const tf::Pose& tf_vel); + + /** + * @brief Get the current robot footprint/contour model + * @param nh const reference to the local rclcpp::Node::SharedPtr + * @return Robot footprint model used for optimization + */ + RobotFootprintModelPtr getRobotFootprintFromParamServer(nav2_util::LifecycleNode::SharedPtr node); + + /** + * @brief Set the footprint from the given XmlRpcValue. + * @remarks This method is copied from costmap_2d/footprint.h, since it is not declared public in all ros distros + * @remarks It is modified in order to return a container of Eigen::Vector2d instead of geometry_msgs::msg::Point + * @param footprint_xmlrpc should be an array of arrays, where the top-level array should have 3 or more elements, and the + * sub-arrays should all have exactly 2 elements (x and y coordinates). + * @param full_param_name this is the full name of the rosparam from which the footprint_xmlrpc value came. + * It is used only for reporting errors. + * @return container of vertices describing the polygon + */ +// Using ROS2 parameter server +// static Point2dContainer makeFootprintFromXMLRPC(XmlRpc::XmlRpcValue& footprint_xmlrpc, const std::string& full_param_name); + + /** + * @brief Get a number from the given XmlRpcValue. + * @remarks This method is copied from costmap_2d/footprint.h, since it is not declared public in all ros distros + * @remarks It is modified in order to return a container of Eigen::Vector2d instead of geometry_msgs::msg::Point + * @param value double value type + * @param full_param_name this is the full name of the rosparam from which the footprint_xmlrpc value came. + * It is used only for reporting errors. + * @returns double value + */ +// Using ROS2 parameter server +// static double getNumberFromXMLRPC(XmlRpc::XmlRpcValue& value, const std::string& full_param_name); + + //@} + +protected: + + /** + * @brief Update internal obstacle vector based on occupied costmap cells + * @remarks All occupied cells will be added as point obstacles. + * @remarks All previous obstacles are cleared. + * @sa updateObstacleContainerWithCostmapConverter + * @todo Include temporal coherence among obstacle msgs (id vector) + * @todo Include properties for dynamic obstacles (e.g. using constant velocity model) + */ + void updateObstacleContainerWithCostmap(); + + /** + * @brief Update internal obstacle vector based on polygons provided by a costmap_converter plugin + * @remarks Requires a loaded costmap_converter plugin. + * @remarks All previous obstacles are cleared. + * @sa updateObstacleContainerWithCostmap + */ + void updateObstacleContainerWithCostmapConverter(); + + /** + * @brief Update internal obstacle vector based on custom messages received via subscriber + * @remarks All previous obstacles are NOT cleared. Call this method after other update methods. + * @sa updateObstacleContainerWithCostmap, updateObstacleContainerWithCostmapConverter + */ + void updateObstacleContainerWithCustomObstacles(); + + + /** + * @brief Update internal via-point container based on the current reference plan + * @remarks All previous via-points will be cleared. + * @param transformed_plan (local) portion of the global plan (which is already transformed to the planning frame) + * @param min_separation minimum separation between two consecutive via-points + */ + void updateViaPointsContainer(const std::vector& transformed_plan, double min_separation); + + + /** + * @brief Callback for the dynamic_reconfigure node. + * + * This callback allows to modify parameters dynamically at runtime without restarting the node + * @param config Reference to the dynamic reconfigure config + * @param level Dynamic reconfigure level + */ + // TODO : dynamic reconfigure is not supported on ROS2 +// void reconfigureCB(TebLocalPlannerReconfigureConfig& config, uint32_t level); + + + /** + * @brief Callback for custom obstacles that are not obtained from the costmap + * @param obst_msg pointer to the message containing a list of polygon shaped obstacles + */ + void customObstacleCB(const costmap_converter_msgs::msg::ObstacleArrayMsg::ConstSharedPtr obst_msg); + + /** + * @brief Callback for custom via-points + * @param via_points_msg pointer to the message containing a list of via-points + */ + void customViaPointsCB(const nav_msgs::msg::Path::ConstSharedPtr via_points_msg); + + /** + * @brief Prune global plan such that already passed poses are cut off + * + * The pose of the robot is transformed into the frame of the global plan by taking the most recent tf transform. + * If no valid transformation can be found, the method returns \c false. + * The global plan is pruned until the distance to the robot is at least \c dist_behind_robot. + * If no pose within the specified treshold \c dist_behind_robot can be found, + * nothing will be pruned and the method returns \c false. + * @remarks Do not choose \c dist_behind_robot too small (not smaller the cellsize of the map), otherwise nothing will be pruned. + * @param global_pose The global pose of the robot + * @param[in,out] global_plan The plan to be transformed + * @param dist_behind_robot Distance behind the robot that should be kept [meters] + * @return \c true if the plan is pruned, \c false in case of a transform exception or if no pose cannot be found inside the threshold + */ + bool pruneGlobalPlan(const geometry_msgs::msg::PoseStamped& global_pose, + std::vector& global_plan, double dist_behind_robot=1); + + /** + * @brief Transforms the global plan of the robot from the planner frame to the local frame (modified). + * + * The method replaces transformGlobalPlan as defined in base_local_planner/goal_functions.h + * such that the index of the current goal pose is returned as well as + * the transformation between the global plan and the planning frame. + * @param global_plan The plan to be transformed + * @param global_pose The global pose of the robot + * @param costmap A reference to the costmap being used so the window size for transforming can be computed + * @param global_frame The frame to transform the plan to + * @param max_plan_length Specify maximum length (cumulative Euclidean distances) of the transformed plan [if <=0: disabled; the length is also bounded by the local costmap size!] + * @param[out] transformed_plan Populated with the transformed plan + * @param[out] current_goal_idx Index of the current (local) goal pose in the global plan + * @param[out] tf_plan_to_global Transformation between the global plan and the global planning frame + * @return \c true if the global plan is transformed, \c false otherwise + */ + bool transformGlobalPlan(const std::vector& global_plan, + const geometry_msgs::msg::PoseStamped& global_pose, const nav2_costmap_2d::Costmap2D& costmap, + const std::string& global_frame, double max_plan_length, std::vector& transformed_plan, + int* current_goal_idx = NULL, geometry_msgs::msg::TransformStamped* tf_plan_to_global = NULL) const; + + /** + * @brief Estimate the orientation of a pose from the global_plan that is treated as a local goal for the local planner. + * + * If the current (local) goal point is not the final one (global) + * substitute the goal orientation by the angle of the direction vector between + * the local goal and the subsequent pose of the global plan. + * This is often helpful, if the global planner does not consider orientations. \n + * A moving average filter is utilized to smooth the orientation. + * @param global_plan The global plan + * @param local_goal Current local goal + * @param current_goal_idx Index of the current (local) goal pose in the global plan + * @param[out] tf_plan_to_global Transformation between the global plan and the global planning frame + * @param moving_average_length number of future poses of the global plan to be taken into account + * @return orientation (yaw-angle) estimate + */ + double estimateLocalGoalOrientation(const std::vector& global_plan, const geometry_msgs::msg::PoseStamped& local_goal, + int current_goal_idx, const geometry_msgs::msg::TransformStamped& tf_plan_to_global, int moving_average_length=3) const; + + + /** + * @brief Saturate the translational and angular velocity to given limits. + * + * The limit of the translational velocity for backwards driving can be changed independently. + * Do not choose max_vel_x_backwards <= 0. If no backward driving is desired, change the optimization weight for + * penalizing backwards driving instead. + * @param[in,out] vx The translational velocity that should be saturated. + * @param[in,out] vy Strafing velocity which can be nonzero for holonomic robots + * @param[in,out] omega The angular velocity that should be saturated. + * @param max_vel_x Maximum translational velocity for forward driving + * @param max_vel_y Maximum strafing velocity (for holonomic robots) + * @param max_vel_theta Maximum (absolute) angular velocity + * @param max_vel_x_backwards Maximum translational velocity for backwards driving + */ + void saturateVelocity(double& vx, double& vy, double& omega, double max_vel_x, double max_vel_y, + double max_vel_theta, double max_vel_x_backwards) const; + + + /** + * @brief Convert translational and rotational velocities to a steering angle of a carlike robot + * + * The conversion is based on the following equations: + * - The turning radius is defined by \f$ R = v/omega \f$ + * - For a car like robot withe a distance L between both axles, the relation is: \f$ tan(\phi) = L/R \f$ + * - phi denotes the steering angle. + * @remarks You might provide distances instead of velocities, since the temporal information is not required. + * @param v translational velocity [m/s] + * @param omega rotational velocity [rad/s] + * @param wheelbase distance between both axles (drive shaft and steering axle), the value might be negative for back_wheeled robots + * @param min_turning_radius Specify a lower bound on the turning radius + * @return Resulting steering angle in [rad] inbetween [-pi/2, pi/2] + */ + double convertTransRotVelToSteeringAngle(double v, double omega, double wheelbase, double min_turning_radius = 0) const; + + /** + * @brief Validate current parameter values of the footprint for optimization, obstacle distance and the costmap footprint + * + * This method prints warnings if validation fails. + * @remarks Currently, we only validate the inscribed radius of the footprints + * @param opt_inscribed_radius Inscribed radius of the RobotFootprintModel for optimization + * @param costmap_inscribed_radius Inscribed radius of the footprint model used for the costmap + * @param min_obst_dist desired distance to obstacles + */ + void validateFootprints(double opt_inscribed_radius, double costmap_inscribed_radius, double min_obst_dist); + + + void configureBackupModes(std::vector& transformed_plan, int& goal_idx); + + /** + * @brief Limits the maximum linear speed of the robot. + * @param speed_limit expressed in absolute value (in m/s) + * or in percentage from maximum robot speed. + * @param percentage Setting speed limit in percentage if true + * or in absolute values in false case. + */ + void setSpeedLimit(const double & speed_limit, const bool & percentage); + +private: + // Definition of member variables + rclcpp_lifecycle::LifecycleNode::WeakPtr nh_; + rclcpp::Logger logger_{rclcpp::get_logger("TEBLocalPlanner")}; + rclcpp::Clock::SharedPtr clock_; + rclcpp::Node::SharedPtr intra_proc_node_; + // external objects (store weak pointers) + CostmapROSPtr costmap_ros_; //!< Pointer to the costmap ros wrapper, received from the navigation stack + nav2_costmap_2d::Costmap2D* costmap_; //!< Pointer to the 2d costmap (obtained from the costmap ros wrapper) + TFBufferPtr tf_; //!< pointer to Transform Listener + TebConfig::UniquePtr cfg_; //!< Config class that stores and manages all related parameters + + // internal objects (memory management owned) + PlannerInterfacePtr planner_; //!< Instance of the underlying optimal planner class + ObstContainer obstacles_; //!< Obstacle vector that should be considered during local trajectory optimization + ViaPointContainer via_points_; //!< Container of via-points that should be considered during local trajectory optimization + TebVisualizationPtr visualization_; //!< Instance of the visualization class (local/global plan, obstacles, ...) + std::shared_ptr costmap_model_; + FailureDetector failure_detector_; //!< Detect if the robot got stucked + + std::vector global_plan_; //!< Store the current global plan + + pluginlib::ClassLoader costmap_converter_loader_; //!< Load costmap converter plugins at runtime + std::shared_ptr costmap_converter_; //!< Store the current costmap_converter + + //std::shared_ptr< dynamic_reconfigure::Server > dynamic_recfg_; //!< Dynamic reconfigure server to allow config modifications at runtime + rclcpp::Subscription::SharedPtr custom_obst_sub_; //!< Subscriber for custom obstacles received via a ObstacleMsg. + std::mutex custom_obst_mutex_; //!< Mutex that locks the obstacle array (multi-threaded) + costmap_converter_msgs::msg::ObstacleArrayMsg custom_obstacle_msg_; //!< Copy of the most recent obstacle message + + rclcpp::Subscription::SharedPtr via_points_sub_; //!< Subscriber for custom via-points received via a Path msg. + bool custom_via_points_active_; //!< Keep track whether valid via-points have been received from via_points_sub_ + std::mutex via_point_mutex_; //!< Mutex that locks the via_points container (multi-threaded) + + PoseSE2 robot_pose_; //!< Store current robot pose + PoseSE2 robot_goal_; //!< Store current robot goal + geometry_msgs::msg::Twist robot_vel_; //!< Store current robot translational and angular velocity (vx, vy, omega) + rclcpp::Time time_last_infeasible_plan_; //!< Store at which time stamp the last infeasible plan was detected + int no_infeasible_plans_; //!< Store how many times in a row the planner failed to find a feasible plan. + rclcpp::Time time_last_oscillation_; //!< Store at which time stamp the last oscillation was detected + RotType last_preferred_rotdir_; //!< Store recent preferred turning direction + geometry_msgs::msg::Twist last_cmd_; //!< Store the last control command generated in computeVelocityCommands() + + std::vector footprint_spec_; //!< Store the footprint of the robot + double robot_inscribed_radius_; //!< The radius of the inscribed circle of the robot (collision possible) + double robot_circumscribed_radius; //!< The radius of the circumscribed circle of the robot + + // flags + bool initialized_; //!< Keeps track about the correct initialization of this class + std::string name_; //!< Name of plugin ID + +protected: + // Dynamic parameters handler + rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler; +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +}; // end namespace teb_local_planner + +#endif // TEB_LOCAL_PLANNER_ROS_H_ + + diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/timed_elastic_band.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/timed_elastic_band.h new file mode 100644 index 0000000..f720906 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/timed_elastic_band.h @@ -0,0 +1,636 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef TIMED_ELASTIC_BAND_H_ +#define TIMED_ELASTIC_BAND_H_ +#include + +#include + +#include +#include +#include +#include + +#include +#include +#include + +#include "teb_local_planner/obstacles.h" + +// G2O Types +#include "teb_local_planner/g2o_types/vertex_pose.h" +#include "teb_local_planner/g2o_types/vertex_timediff.h" + + +namespace teb_local_planner +{ + +//! Container of poses that represent the spatial part of the trajectory +typedef std::vector PoseSequence; +//! Container of time differences that define the temporal of the trajectory +typedef std::vector TimeDiffSequence; + + +/** + * @class TimedElasticBand + * @brief Class that defines a trajectory modeled as an elastic band with augmented tempoarl information. + * + * All trajectory related methods (initialization, modifying, ...) are implemented inside this class. \n + * Let \f$ Q = \lbrace \mathbf{s}_i \rbrace_{i=0...n},\ n \in \mathbb{N} \f$ be a sequence of poses, \n + * in which \f$ \mathbf{s}_i = [x_i, y_i, \beta_i]^T \in \mathbb{R}^2 \times S^1 \f$ denotes a single pose of the robot. \n + * The Timed Elastic Band (TEB) augments this sequence of poses by incorporating time intervals between + * two consecutive poses, resuting in a sequence of \c n-1 time intervals \f$ \Delta T_i \f$: \n + * \f$ \tau = \lbrace \Delta T_i \rbrace_{i=0...n-1} \f$. \n + * Each time interval (time diff) denotes the time that the robot requires to transit from the current configuration to the next configuration. + * The tuple of both sequences defines the underlying trajectory. + * + * Poses and time differences are wrapped into a g2o::Vertex class in order to enable the efficient optimization in TebOptimalPlanner. \n + * TebOptimalPlanner utilizes this Timed_Elastic_band class for representing an optimizable trajectory. + * + * @todo Move decision if the start or goal state should be marked as fixed or unfixed for the optimization to the TebOptimalPlanner class. + */ +class TimedElasticBand +{ +public: + + /** + * @brief Construct the class + */ + TimedElasticBand(); + + /** + * @brief Destruct the class + */ + virtual ~TimedElasticBand(); + + + + /** @name Access pose and timediff sequences */ + //@{ + + /** + * @brief Access the complete pose sequence + * @return reference to the pose sequence + */ + PoseSequence& poses() {return pose_vec_;}; + + /** + * @brief Access the complete pose sequence (read-only) + * @return const reference to the pose sequence + */ + const PoseSequence& poses() const {return pose_vec_;}; + + /** + * @brief Access the complete timediff sequence + * @return reference to the dimediff sequence + */ + TimeDiffSequence& timediffs() {return timediff_vec_;}; + + /** + * @brief Access the complete timediff sequence + * @return reference to the dimediff sequence + */ + const TimeDiffSequence& timediffs() const {return timediff_vec_;}; + + /** + * @brief Access the time difference at pos \c index of the time sequence + * @param index element position inside the internal TimeDiffSequence + * @return reference to the time difference at pos \c index + */ + double& TimeDiff(int index) + { + assert(indexdt(); + } + + /** + * @brief Access the time difference at pos \c index of the time sequence (read-only) + * @param index element position inside the internal TimeDiffSequence + * @return const reference to the time difference at pos \c index + */ + const double& TimeDiff(int index) const + { + assert(indexdt(); + } + + /** + * @brief Access the pose at pos \c index of the pose sequence + * @param index element position inside the internal PoseSequence + * @return reference to the pose at pos \c index + */ + PoseSE2& Pose(int index) + { + assert(indexpose(); + } + + /** + * @brief Access the pose at pos \c index of the pose sequence (read-only) + * @param index element position inside the internal PoseSequence + * @return const reference to the pose at pos \c index + */ + const PoseSE2& Pose(int index) const + { + assert(indexpose(); + } + + /** + * @brief Access the last PoseSE2 in the pose sequence + */ + PoseSE2& BackPose() {return pose_vec_.back()->pose(); } + + /** + * @brief Access the last PoseSE2 in the pose sequence (read-only) + */ + const PoseSE2& BackPose() const {return pose_vec_.back()->pose();} + + /** + * @brief Access the last TimeDiff in the time diff sequence + */ + double& BackTimeDiff() {return timediff_vec_.back()->dt(); } + + /** + * @brief Access the last TimeDiff in the time diff sequence (read-only) + */ + const double& BackTimeDiff() const {return timediff_vec_.back()->dt(); } + + /** + * @brief Access the vertex of a pose at pos \c index for optimization purposes + * @param index element position inside the internal PoseSequence + * @return Weak raw pointer to the pose vertex at pos \c index + */ + VertexPose* PoseVertex(int index) + { + assert(index& position, double theta, bool fixed=false); + + /** + * @brief Append a new pose vertex to the back of the pose sequence + * @param x x-coordinate of the position part + * @param y y-coordinate of the position part + * @param theta yaw angle representing the orientation part + * @param fixed Mark the pose to be fixed or unfixed during trajectory optimization (important for the TebOptimalPlanner) + */ + void addPose(double x, double y, double theta, bool fixed=false); + + /** + * @brief Append a new time difference vertex to the back of the time diff sequence + * @param dt time difference value to push back on the internal TimeDiffSequence + * @param fixed Mark the pose to be fixed or unfixed during trajectory optimization (important for the TebOptimalPlanner) + */ + void addTimeDiff(double dt, bool fixed=false); + + /** + * @brief Append a (pose, timediff) vertex pair to the end of the current trajectory (pose and timediff sequences) + * @param pose PoseSE2 to push back on the internal PoseSequence + * @param dt time difference value to push back on the internal TimeDiffSequence + * @warning Since the timediff is defined to connect two consecutive poses, this call is only + * allowed if there exist already n poses and n-1 timediffs in the sequences (n=1,2,...): + * therefore add a single pose using addPose() first! + */ + void addPoseAndTimeDiff(const PoseSE2& pose, double dt); + + /** + * @brief Append a (pose, timediff) vertex pair to the end of the current trajectory (pose and timediff sequences) + * @param position 2D vector representing the position part + * @param theta yaw angle representing the orientation part + * @param dt time difference value to push back on the internal TimeDiffSequence + * @warning see addPoseAndTimeDiff(const PoseSE2& pose, double dt) + */ + void addPoseAndTimeDiff(const Eigen::Ref& position, double theta, double dt); + + /** + * @brief Append a (pose, timediff) vertex pair to the end of the current trajectory (pose and timediff sequences) + * @param x x-coordinate of the position part + * @param y y-coordinate of the position part + * @param theta yaw angle representing the orientation part + * @param dt time difference value to push back on the internal TimeDiffSequence + * @warning see addPoseAndTimeDiff(const PoseSE2& pose, double dt) + */ + void addPoseAndTimeDiff(double x, double y, double theta, double dt); + + //@} + + + /** @name Insert new elements and remove elements of the pose and timediff sequences */ + //@{ + + /** + * @brief Insert a new pose vertex at pos. \c index to the pose sequence + * @param index element position inside the internal PoseSequence + * @param pose PoseSE2 element to insert into the internal PoseSequence + */ + void insertPose(int index, const PoseSE2& pose); + + /** + * @brief Insert a new pose vertex at pos. \c index to the pose sequence + * @param index element position inside the internal PoseSequence + * @param position 2D vector representing the position part + * @param theta yaw-angle representing the orientation part + */ + void insertPose(int index, const Eigen::Ref& position, double theta); + + /** + * @brief Insert a new pose vertex at pos. \c index to the pose sequence + * @param index element position inside the internal PoseSequence + * @param x x-coordinate of the position part + * @param y y-coordinate of the position part + * @param theta yaw-angle representing the orientation part + */ + void insertPose(int index, double x, double y, double theta); + + /** + * @brief Insert a new timediff vertex at pos. \c index to the timediff sequence + * @param index element position inside the internal TimeDiffSequence + * @param dt timediff value + */ + void insertTimeDiff(int index, double dt); + + /** + * @brief Delete pose at pos. \c index in the pose sequence + * @param index element position inside the internal PoseSequence + */ + void deletePose(int index); + + /** + * @brief Delete multiple (\c number) poses starting at pos. \c index in the pose sequence + * @param index first element position inside the internal PoseSequence + * @param number number of elements that should be deleted + */ + void deletePoses(int index, int number); + + /** + * @brief Delete pose at pos. \c index in the timediff sequence + * @param index element position inside the internal TimeDiffSequence + */ + void deleteTimeDiff(int index); + + /** + * @brief Delete multiple (\c number) time differences starting at pos. \c index in the timediff sequence + * @param index first element position inside the internal TimeDiffSequence + * @param number number of elements that should be deleted + */ + void deleteTimeDiffs(int index, int number); + + //@} + + + /** @name Init the trajectory */ + //@{ + + /** + * @brief Initialize a trajectory between a given start and goal pose. + * + * The implemented algorithm subsamples the straight line between + * start and goal using a given discretiziation width. \n + * The discretization width can be defined in the euclidean space + * using the \c diststep parameter. Each time difference between two consecutive + * poses is initialized to \c timestep. \n + * If the \c diststep is chosen to be zero, + * the resulting trajectory contains the start and goal pose only. + * @param start PoseSE2 defining the start of the trajectory + * @param goal PoseSE2 defining the goal of the trajectory (final pose) + * @param diststep euclidean distance between two consecutive poses (if 0, no intermediate samples are inserted despite min_samples) + * @param max_vel_x maximum translational velocity used for determining time differences + * @param min_samples Minimum number of samples that should be initialized at least + * @param guess_backwards_motion Allow the initialization of backwards oriented trajectories if the goal heading is pointing behind the robot + * @return true if everything was fine, false otherwise + */ + bool initTrajectoryToGoal(const PoseSE2& start, const PoseSE2& goal, double diststep=0, double max_vel_x=0.5, int min_samples = 3, bool guess_backwards_motion = false); + + + /** + * @brief Initialize a trajectory from a generic 2D reference path. + * + * The temporal information is determined using a given maximum velocity + * (2D vector containing the translational and angular velocity). \n + * A constant velocity profile is implemented. \n + * A possible maximum acceleration is considered if \c max_acceleration param is provided. + * + * Since the orientation is not included in the reference path, it can be provided seperately + * (e.g. from the robot pose and robot goal). \n + * Otherwise the goal heading will be used as start and goal orientation. \n + * The orientation along the trajectory will be determined using the connection vector + * between two consecutive positions of the reference path. + * + * The reference path is provided using a start and end iterator to a container class. + * You must provide a unary function that accepts the dereferenced iterator and returns + * a copy or (const) reference to an Eigen::Vector2d type containing the 2d position. + * + * @param path_start start iterator of a generic 2d path + * @param path_end end iterator of a generic 2d path + * @param fun_position unary function that returns the Eigen::Vector2d object + * @param max_vel_x maximum translational velocity used for determining time differences + * @param max_vel_theta maximum angular velocity used for determining time differences + * @param max_acc_x specify to satisfy a maxmimum transl. acceleration and decceleration (optional) + * @param max_acc_theta specify to satisfy a maxmimum angular acceleration and decceleration (optional) + * @param start_orientation Orientation of the first pose of the trajectory (optional, otherwise use goal heading) + * @param goal_orientation Orientation of the last pose of the trajectory (optional, otherwise use goal heading) + * @param min_samples Minimum number of samples that should be initialized at least + * @param guess_backwards_motion Allow the initialization of backwards oriented trajectories if the goal heading is pointing behind the robot + * @tparam BidirIter Bidirectional iterator type + * @tparam Fun unyary function that transforms the dereferenced iterator into an Eigen::Vector2d + * @return true if everything was fine, false otherwise + * @remarks Use \c boost::none to skip optional arguments. + */ + template + bool initTrajectoryToGoal(BidirIter path_start, BidirIter path_end, Fun fun_position, double max_vel_x, double max_vel_theta, + boost::optional max_acc_x, boost::optional max_acc_theta, + boost::optional start_orientation, boost::optional goal_orientation, int min_samples = 3, bool guess_backwards_motion = false); + + /** + * @brief Initialize a trajectory from a reference pose sequence (positions and orientations). + * + * This method initializes the timed elastic band using a pose container + * (e.g. as local plan from the ros navigation stack). \n + * The initial time difference between two consecutive poses can be uniformly set + * via the argument \c dt. + * @param plan vector of geometry_msgs::msg::PoseStamped + * @param max_vel_x maximum translational velocity used for determining time differences + * @param max_vel_theta maximum rotational velocity used for determining time differences + * @param estimate_orient if \c true, calculate orientation using the straight line distance vector between consecutive poses + * (only copy start and goal orientation; recommended if no orientation data is available). + * @param min_samples Minimum number of samples that should be initialized at least + * @param guess_backwards_motion Allow the initialization of backwards oriented trajectories if the goal heading is pointing behind the robot (this parameter is used only if \c estimate_orient is enabled. + * @return true if everything was fine, false otherwise + */ + bool initTrajectoryToGoal(const std::vector& plan, double max_vel_x, double max_vel_theta, bool estimate_orient=false, int min_samples = 3, bool guess_backwards_motion = false); + + //@} + + /** @name Update and modify the trajectory */ + //@{ + + + /** + * @brief Hot-Start from an existing trajectory with updated start and goal poses. + * + * This method updates a previously optimized trajectory with a new start and/or a new goal pose. \n + * The current simple implementation cuts of pieces of the trajectory that are already passed due to the new start. \n + * Afterwards the start and goal pose are replaced by the new ones. The resulting discontinuity will not be smoothed. + * The optimizer has to smooth the trajectory in TebOptimalPlanner. \n + * + * @todo Smooth the trajectory here and test the performance improvement of the optimization. + * @todo Implement a updateAndPruneTEB based on a new reference path / pose sequence. + * + * @param new_start New start pose (optional) + * @param new_goal New goal pose (optional) + * @param min_samples Specify the minimum number of samples that should at least remain in the trajectory + */ + void updateAndPruneTEB(boost::optional new_start, boost::optional new_goal, int min_samples = 3); + + + /** + * @brief Resize the trajectory by removing or inserting a (pose,dt) pair depending on a reference temporal resolution. + * + * Resizing the trajectory is helpful e.g. for the following scenarios: + * + * - Obstacles requires the teb to be extended in order to + * satisfy the given discritization width (plan resolution) + * and to avoid undesirable behavior due to a large/small discretization step widths \f$ \Delta T_i \f$ + * After clearance of obstacles, the teb should (re-) contract to its (time-)optimal version. + * - If the distance to the goal state is getting smaller, + * dt is decreasing as well. This leads to a heavily + * fine-grained discretization in combination with many + * discrete poses. Thus, the computation time will + * be/remain high and in addition numerical instabilities + * can appear (e.g. due to the division by a small \f$ \Delta T_i \f$). + * + * The implemented strategy checks all timediffs \f$ \Delta T_i \f$ and + * + * - inserts a new sample if \f$ \Delta T_i > \Delta T_{ref} + \Delta T_{hyst} \f$ + * - removes a sample if \f$ \Delta T_i < \Delta T_{ref} - \Delta T_{hyst} \f$ + * + * Each call only one new sample (pose-dt-pair) is inserted or removed. + * @param dt_ref reference temporal resolution + * @param dt_hysteresis hysteresis to avoid oscillations + * @param min_samples minimum number of samples that should be remain in the trajectory after resizing + * @param max_samples maximum number of samples that should not be exceeded during resizing + * @param fast_mode if true, the trajectory is iterated once to insert or erase points; if false the trajectory + * is repeatedly iterated until no poses are added or removed anymore + */ + void autoResize(double dt_ref, double dt_hysteresis, int min_samples = 3, int max_samples=1000, bool fast_mode=false); + + /** + * @brief Set a pose vertex at pos \c index of the pose sequence to be fixed or unfixed during optimization. + * @param index index to the pose vertex + * @param status if \c true, the vertex will be fixed, otherwise unfixed + */ + void setPoseVertexFixed(int index, bool status); + + /** + * @brief Set a timediff vertex at pos \c index of the timediff sequence to be fixed or unfixed during optimization. + * @param index index to the timediff vertex + * @param status if \c true, the vertex will be fixed, otherwise unfixed + */ + void setTimeDiffVertexFixed(int index, bool status); + + /** + * @brief clear all poses and timediffs from the trajectory. + * The pose and timediff sequences will be empty and isInit() will return \c false + */ + void clearTimedElasticBand(); + + //@} + + + /** @name Utility and status methods */ + //@{ + + /** + * @brief Find the closest point on the trajectory w.r.t. to a provided reference point. + * + * This function can be useful to find the part of a trajectory that is close to an obstacle. + * + * @todo implement a more efficient version that first performs a coarse search. + * @todo implement a fast approximation that assumes only one local minima w.r.t to the distance: + * Allows simple comparisons starting from the middle of the trajectory. + * + * @param ref_point reference point (2D position vector) + * @param[out] distance [optional] the resulting minimum distance + * @param begin_idx start search at this pose index + * @return Index to the closest pose in the pose sequence + */ + int findClosestTrajectoryPose(const Eigen::Ref& ref_point, double* distance = NULL, int begin_idx=0) const; + + /** + * @brief Find the closest point on the trajectory w.r.t. to a provided reference line. + * + * This function can be useful to find the part of a trajectory that is close to an (line) obstacle. + * + * @todo implement a more efficient version that first performs a coarse search. + * @todo implement a fast approximation that assumes only one local minima w.r.t to the distance: + * Allows simple comparisons starting from the middle of the trajectory. + * + * @param ref_line_start start of the reference line (2D position vector) + * @param ref_line_end end of the reference line (2D position vector) + * @param[out] distance [optional] the resulting minimum distance + * @return Index to the closest pose in the pose sequence + */ + int findClosestTrajectoryPose(const Eigen::Ref& ref_line_start, const Eigen::Ref& ref_line_end, double* distance = NULL) const; + + /** + * @brief Find the closest point on the trajectory w.r.t. to a provided reference polygon. + * + * This function can be useful to find the part of a trajectory that is close to an (polygon) obstacle. + * + * @todo implement a more efficient version that first performs a coarse search. + * @todo implement a fast approximation that assumes only one local minima w.r.t to the distance: + * Allows simple comparisons starting from the middle of the trajectory. + * + * @param vertices vertex container containing Eigen::Vector2d points (the last and first point are connected) + * @param[out] distance [optional] the resulting minimum distance + * @return Index to the closest pose in the pose sequence + */ + int findClosestTrajectoryPose(const Point2dContainer& vertices, double* distance = NULL) const; + + /** + * @brief Find the closest point on the trajectory w.r.t to a provided obstacle type + * + * This function can be useful to find the part of a trajectory that is close to an obstacle. + * The method is calculates appropriate distance metrics for point, line and polygon obstacles. + * For all unknown obstacles the centroid is used. + * + * @param obstacle Subclass of the Obstacle base class + * @param[out] distance [optional] the resulting minimum distance + * @return Index to the closest pose in the pose sequence + */ + int findClosestTrajectoryPose(const Obstacle& obstacle, double* distance = NULL) const; + + + /** + * @brief Get the length of the internal pose sequence + */ + int sizePoses() const {return (int)pose_vec_.size();}; + + /** + * @brief Get the length of the internal timediff sequence + */ + int sizeTimeDiffs() const {return (int)timediff_vec_.size();}; + + /** + * @brief Check whether the trajectory is initialized (nonzero pose and timediff sequences) + */ + bool isInit() const {return !timediff_vec_.empty() && !pose_vec_.empty();} + + /** + * @brief Calculate the total transition time (sum over all time intervals of the timediff sequence) + */ + double getSumOfAllTimeDiffs() const; + + /** + * @brief Calculate the estimated transition time up to the pose denoted by index + * @param index Index of the pose up to which the transition times are summed up + * @return Estimated transition time up to pose index + */ + double getSumOfTimeDiffsUpToIdx(int index) const; + + /** + * @brief Calculate the length (accumulated euclidean distance) of the trajectory + */ + double getAccumulatedDistance() const; + + /** + * @brief Check if all trajectory points are contained in a specific region + * + * The specific region is a circle around the current robot position (Pose(0)) with given radius \c radius. + * This method investigates a different radius for points behind the robot if \c max_dist_behind_robot >= 0. + * @param radius radius of the region with the robot position (Pose(0)) as center + * @param max_dist_behind_robot A separate radius for trajectory points behind the robot, activated if 0 or positive + * @param skip_poses If >0: the specified number of poses are skipped for the test, e.g. Pose(0), Pose(0+skip_poses+1), Pose(2*skip_poses+2), ... are tested. + * @return \c true, if all tested trajectory points are inside the specified region, \c false otherwise. + */ + bool isTrajectoryInsideRegion(double radius, double max_dist_behind_robot=-1, int skip_poses=0); + + + + //@} + +protected: + PoseSequence pose_vec_; //!< Internal container storing the sequence of optimzable pose vertices + TimeDiffSequence timediff_vec_; //!< Internal container storing the sequence of optimzable timediff vertices + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +} // namespace teb_local_planner + + +// include template implementations / definitions +#include "teb_local_planner/timed_elastic_band.hpp" + + +#endif /* TIMED_ELASTIC_BAND_H_ */ diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/timed_elastic_band.hpp b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/timed_elastic_band.hpp new file mode 100644 index 0000000..9db4a25 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/timed_elastic_band.hpp @@ -0,0 +1,191 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#include "teb_local_planner/timed_elastic_band.h" + +#include + +namespace teb_local_planner +{ +template +bool TimedElasticBand::initTrajectoryToGoal(BidirIter path_start, BidirIter path_end, Fun fun_position, double max_vel_x, double max_vel_theta, + boost::optional max_acc_x, boost::optional max_acc_theta, + boost::optional start_orientation, boost::optional goal_orientation, int min_samples, bool guess_backwards_motion) +{ + Eigen::Vector2d start_position = fun_position( *path_start ); + Eigen::Vector2d goal_position = fun_position( *std::prev(path_end) ); + + bool backwards = false; + + double start_orient, goal_orient; + if (start_orientation) + { + start_orient = *start_orientation; + + // check if the goal is behind the start pose (w.r.t. start orientation) + if (guess_backwards_motion && (goal_position-start_position).dot(Eigen::Vector2d(std::cos(start_orient), std::sin(start_orient))) < 0) + backwards = true; + } + else + { + Eigen::Vector2d start2goal = goal_position - start_position; + start_orient = atan2(start2goal[1],start2goal[0]); + } + + double timestep = 1; // TODO: time + + if (goal_orientation) + { + goal_orient = *goal_orientation; + } + else + { + goal_orient = start_orient; + } + + if (!isInit()) + { + addPose(start_position, start_orient, true); // add starting point and mark it as fixed for optimization + + // we insert middle points now (increase start by 1 and decrease goal by 1) + std::advance(path_start,1); + std::advance(path_end,-1); + int idx=0; + for (; path_start != path_end; ++path_start) // insert middle-points + { + //Eigen::Vector2d point_to_goal = path.back()-*it; + //double dir_to_goal = atan2(point_to_goal[1],point_to_goal[0]); // direction to goal + // Alternative: Direction from last path + Eigen::Vector2d curr_point = fun_position(*path_start); + Eigen::Vector2d diff_last = curr_point - Pose(idx).position(); // we do not use std::prev(*path_start) for those cases, + // where fun_position() does not return a reference or is expensive. + double diff_norm = diff_last.norm(); + + double timestep_vel = diff_norm/max_vel_x; // constant velocity + double timestep_acc; + + if (max_acc_x) + { + timestep_acc = sqrt(2*diff_norm/(*max_acc_x)); // constant acceleration + if (timestep_vel < timestep_acc && max_acc_x) timestep = timestep_acc; + else timestep = timestep_vel; + } + else timestep = timestep_vel; + + if (timestep<=0) timestep=0.2; // TODO: this is an assumption + + double yaw = atan2(diff_last[1],diff_last[0]); + if (backwards) + yaw = g2o::normalize_theta(yaw + M_PI); + addPoseAndTimeDiff(curr_point, yaw ,timestep); + + /* + // TODO: the following code does not seem to hot-start the optimizer. Instead it recudes convergence time. + + Eigen::Vector2d diff_next = fun_position(*std::next(path_start))-curr_point; // TODO maybe store the std::next for the following iteration + double ang_diff = std::abs( g2o::normalize_theta( atan2(diff_next[1],diff_next[0]) + -atan2(diff_last[1],diff_last[0]) ) ); + + timestep_vel = ang_diff/max_vel_theta; // constant velocity + if (max_acc_theta) + { + timestep_acc = sqrt(2*ang_diff/(*max_acc_theta)); // constant acceleration + if (timestep_vel < timestep_acc) timestep = timestep_acc; + else timestep = timestep_vel; + } + else timestep = timestep_vel; + + if (timestep<=0) timestep=0.2; // TODO: this is an assumption + + yaw = atan2(diff_last[1],diff_last[0]); // TODO redundant right now, not yet finished + if (backwards) + yaw = g2o::normalize_theta(yaw + M_PI); + addPoseAndTimeDiff(curr_point, yaw ,timestep); + + */ + + ++idx; + } + Eigen::Vector2d diff = goal_position-Pose(idx).position(); + double diff_norm = diff.norm(); + double timestep_vel = diff_norm/max_vel_x; // constant velocity + if (max_acc_x) + { + double timestep_acc = sqrt(2*diff_norm/(*max_acc_x)); // constant acceleration + if (timestep_vel < timestep_acc) timestep = timestep_acc; + else timestep = timestep_vel; + } + else timestep = timestep_vel; + + + PoseSE2 goal(goal_position, goal_orient); + + // if number of samples is not larger than min_samples, insert manually + if ( sizePoses() < min_samples-1 ) + { + RCLCPP_DEBUG(rclcpp::get_logger("teb_local_planner"), + "initTEBtoGoal(): number of generated samples is less than specified by min_samples. Forcing the insertion of more samples..."); + while (sizePoses() < min_samples-1) // subtract goal point that will be added later + { + // Each inserted point bisects the remaining distance. Thus the timestep is also bisected. + timestep /= 2; + // simple strategy: interpolate between the current pose and the goal + addPoseAndTimeDiff( PoseSE2::average(BackPose(), goal), timestep ); // let the optimier correct the timestep (TODO: better initialization + } + } + + // now add goal + addPoseAndTimeDiff(goal, timestep); // add goal point + setPoseVertexFixed(sizePoses()-1,true); // GoalConf is a fixed constraint during optimization + } + else // size!=0 + { + RCLCPP_DEBUG(rclcpp::get_logger("teb_local_planner"), + "Cannot init TEB between given configuration and goal, because TEB vectors are not empty or TEB is already initialized (call this function before adding states yourself)!"); + RCLCPP_DEBUG(rclcpp::get_logger("teb_local_planner"), + "Number of TEB configurations: %d, Number of TEB timediffs: %d", sizePoses(), sizeTimeDiffs()); + return false; + } + return true; +} + + +} // namespace teb_local_planner + + + diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/visualization.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/visualization.h new file mode 100644 index 0000000..c46dbe8 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/visualization.h @@ -0,0 +1,272 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef VISUALIZATION_H_ +#define VISUALIZATION_H_ + + + +// teb stuff +#include "teb_local_planner/teb_config.h" +#include "teb_local_planner/timed_elastic_band.h" +#include "teb_local_planner/robot_footprint_model.h" + +#include + +// boost +#include +#include + +// std +#include + +#include + +#include + +// messages +#include +#include +#include +#include +#include +#include +#include + +namespace teb_local_planner +{ + +class TebOptimalPlanner; //!< Forward Declaration + + +/** + * @class TebVisualization + * @brief Visualize stuff from the teb_local_planner + */ +class TebVisualization +{ +public: + /** + * @brief Constructor that initializes the class and registers topics + * @param nh local rclcpp::Node::SharedPtr + * @param cfg const reference to the TebConfig class for parameters + */ + TebVisualization(const rclcpp_lifecycle::LifecycleNode::SharedPtr & nh, const TebConfig& cfg); + + /** @name Publish to topics */ + //@{ + + /** + * @brief Publish a given global plan to the ros topic \e ../../global_plan + * @param global_plan Pose array describing the global plan + */ + void publishGlobalPlan(const std::vector& global_plan) const; + + /** + * @brief Publish a given local plan to the ros topic \e ../../local_plan + * @param local_plan Pose array describing the local plan + */ + void publishLocalPlan(const std::vector& local_plan) const; + + /** + * @brief Publish Timed_Elastic_Band related stuff (local plan, pose sequence). + * + * Given a Timed_Elastic_Band instance, publish the local plan to \e ../../local_plan + * and the pose sequence to \e ../../teb_poses. + * @param teb const reference to a Timed_Elastic_Band + */ + void publishLocalPlanAndPoses(const TimedElasticBand& teb) const; + + /** + * @brief Publish the visualization of the robot model + * + * @param current_pose Current pose of the robot + * @param robot_model Subclass of BaseRobotFootprintModel + * @param ns Namespace for the marker objects + * @param color Color of the footprint + */ + void publishRobotFootprintModel(const PoseSE2& current_pose, const BaseRobotFootprintModel& robot_model, const std::string& ns = "RobotFootprintModel", + const std_msgs::msg::ColorRGBA& color = toColorMsg(0.5, 0.0, 0.8, 0.0)); + + /** + * @brief Publish the robot footprints related to infeasible poses + * + * @param current_pose Current pose of the robot + * @param robot_model Subclass of BaseRobotFootprintModel + */ + void publishInfeasibleRobotPose(const PoseSE2& current_pose, const BaseRobotFootprintModel& robot_model); + + /** + * @brief Publish obstacle positions to the ros topic \e ../../teb_markers + * @todo Move filling of the marker message to polygon class in order to avoid checking types. + * @param obstacles Obstacle container + */ + void publishObstacles(const ObstContainer& obstacles) const; + + /** + * @brief Publish via-points to the ros topic \e ../../teb_markers + * @param via_points via-point container + */ + void publishViaPoints(const std::vector< Eigen::Vector2d, Eigen::aligned_allocator >& via_points, const std::string& ns = "ViaPoints") const; + + /** + * @brief Publish a boost::adjacency_list (boost's graph datatype) via markers. + * @remarks Make sure that vertices of the graph contain a member \c pos as \c Eigen::Vector2d type + * to query metric position values. + * @param graph Const reference to the boost::adjacency_list (graph) + * @param ns_prefix Namespace prefix for the marker objects (the strings "Edges" and "Vertices" will be appended) + * @tparam GraphType boost::graph object in which vertices has the field/member \c pos. + */ + template + void publishGraph(const GraphType& graph, const std::string& ns_prefix = "Graph"); + + /** + * @brief Publish multiple 2D paths (each path given as a point sequence) from a container class. + * + * Provide a std::vector< std::vector< T > > in which T.x() and T.y() exist + * and std::vector could be individually substituded by std::list / std::deque /... + * + * A common point-type for object T could be Eigen::Vector2d. + * + * T could be also a raw pointer std::vector< std::vector< T* > >. + * + * @code + * typedef std::vector > PathType; // could be a list or deque as well ... + * std::vector path_container(2); // init 2 empty paths; the container could be a list or deque as well ... + * // Fill path_container.at(0) with Eigen::Vector2d elements, we skip that here + * // Fill path_container.at(1) with Eigen::Vector2d elements, we skip that here + * publishPathContainer( path_container.begin(), path_container.end() ); + * @endcode + * + * @remarks Actually the underlying path does not necessarily need to be a Eigen::Vector2d sequence. + * Eigen::Vector2d can be replaced with any datatype that implement public x() and y() methods.\n + * @param first Bidirectional iterator pointing to the begin of the path + * @param last Bidirectional iterator pointing to the end of the path + * @param ns Namespace for the marker objects (the strings "Edges" and "Vertices" will be appended) + * @tparam BidirIter Bidirectional iterator to a 2D path (sequence of Eigen::Vector2d elements) in a container + */ + template + void publishPathContainer(BidirIter first, BidirIter last, const std::string& ns = "PathContainer"); + + /** + * @brief Publish multiple Tebs from a container class (publish as marker message). + * + * @param teb_planner Container of std::shared_ptr< TebOptPlannerPtr > + * @param ns Namespace for the marker objects + */ + void publishTebContainer(const std::vector< std::shared_ptr >& teb_planner, const std::string& ns = "TebContainer"); + + /** + * @brief Publish a feedback message (multiple trajectory version) + * + * The feedback message contains the all planned trajectory candidates (e.g. if planning in distinctive topologies is turned on). + * Each trajectory is composed of the sequence of poses, the velocity profile and temporal information. + * The feedback message also contains a list of active obstacles. + * @param teb_planners container with multiple tebs (resp. their planner instances) + * @param selected_trajectory_idx Idx of the currently selected trajectory in \c teb_planners + * @param obstacles Container of obstacles + */ + void publishFeedbackMessage(const std::vector< std::shared_ptr >& teb_planners, unsigned int selected_trajectory_idx, const ObstContainer& obstacles); + + /** + * @brief Publish a feedback message (single trajectory overload) + * + * The feedback message contains the planned trajectory + * that is composed of the sequence of poses, the velocity profile and temporal information. + * The feedback message also contains a list of active obstacles. + * @param teb_planner the planning instance + * @param obstacles Container of obstacles + */ + void publishFeedbackMessage(const TebOptimalPlanner& teb_planner, const ObstContainer& obstacles); + + nav2_util::CallbackReturn on_configure(); + nav2_util::CallbackReturn on_activate(); + nav2_util::CallbackReturn on_deactivate(); + nav2_util::CallbackReturn on_cleanup(); + + //@} + + /** + * @brief Helper function to generate a color message from single values + * @param a Alpha value + * @param r Red value + * @param g Green value + * @param b Blue value + * @return Color message + */ + static std_msgs::msg::ColorRGBA toColorMsg(double a, double r, double g, double b); + +protected: + + /** + * @brief Small helper function that checks if initialize() has been called and prints an error message if not. + * @return \c true if not initialized, \c false if everything is ok + */ + bool printErrorWhenNotInitialized() const; + + nav2_util::LifecycleNode::SharedPtr nh_; + + rclcpp_lifecycle::LifecyclePublisher::SharedPtr global_plan_pub_; //!< Publisher for the global plan + rclcpp_lifecycle::LifecyclePublisher::SharedPtr local_plan_pub_; //!< Publisher for the local plan + rclcpp_lifecycle::LifecyclePublisher::SharedPtr teb_poses_pub_; //!< Publisher for the trajectory pose sequence + rclcpp_lifecycle::LifecyclePublisher::SharedPtr teb_marker_pub_; //!< Publisher for visualization markers + rclcpp_lifecycle::LifecyclePublisher::SharedPtr feedback_pub_; //!< Publisher for the feedback message for analysis and debug purposes + + const TebConfig* cfg_; //!< Config class that stores and manages all related parameters + + bool initialized_; //!< Keeps track about the correct initialization of this class + + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +//! Abbrev. for shared instances of the TebVisualization +typedef std::shared_ptr TebVisualizationPtr; + +//! Abbrev. for shared instances of the TebVisualization (read-only) +typedef std::shared_ptr TebVisualizationConstPtr; + + +} // namespace teb_local_planner + + +// Include template method implementations / definitions +#include "teb_local_planner/visualization.hpp" + +#endif /* VISUALIZATION_H_ */ diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/visualization.hpp b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/visualization.hpp new file mode 100644 index 0000000..9b45a54 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/visualization.hpp @@ -0,0 +1,227 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#include "teb_local_planner/visualization.h" + +#include +#include + +namespace teb_local_planner +{ + + +template +void TebVisualization::publishGraph(const GraphType& graph, const std::string& ns_prefix) +{ + if ( printErrorWhenNotInitialized() ) + return; + + typedef typename boost::graph_traits::vertex_iterator GraphVertexIterator; + typedef typename boost::graph_traits::edge_iterator GraphEdgeIterator; + + // Visualize Edges + visualization_msgs::msg::Marker marker; + marker.header.frame_id = cfg_->map_frame; + marker.header.stamp = nh_->now(); + marker.ns = ns_prefix + "Edges"; + marker.id = 0; + marker.pose.orientation.w = 1.0; +// #define TRIANGLE +#ifdef TRIANGLE + marker.type = visualization_msgs::msg::Marker::TRIANGLE_LIST; +#else + marker.type = visualization_msgs::msg::Marker::LINE_LIST; +#endif + marker.action = visualization_msgs::msg::Marker::ADD; + + GraphEdgeIterator it_edge, end_edges; + for (boost::tie(it_edge,end_edges) = boost::edges(graph); it_edge!=end_edges; ++it_edge) + { +#ifdef TRIANGLE + geometry_msgs::msg::Point point_start1; + point_start1.x = graph[boost::source(*it_edge,graph)].pos[0]+0.05; + point_start1.y = graph[boost::source(*it_edge,graph)].pos[1]-0.05; + point_start1.z = 0; + marker.points.push_back(point_start1); + geometry_msgs::msg::Point point_start2; + point_start2.x = graph[boost::source(*it_edge,graph)].pos[0]-0.05; + point_start2.y = graph[boost::source(*it_edge,graph)].pos[1]+0.05; + point_start2.z = 0; + marker.points.push_back(point_start2); + +#else + geometry_msgs::msg::Point point_start; + point_start.x = graph[boost::source(*it_edge,graph)].pos[0]; + point_start.y = graph[boost::source(*it_edge,graph)].pos[1]; + point_start.z = 0; + marker.points.push_back(point_start); +#endif + geometry_msgs::msg::Point point_end; + point_end.x = graph[boost::target(*it_edge,graph)].pos[0]; + point_end.y = graph[boost::target(*it_edge,graph)].pos[1]; + point_end.z = 0; + marker.points.push_back(point_end); + + // add color + std_msgs::msg::ColorRGBA color; + color.a = 1.0; + color.r = 0; + color.g = 0; + color.b = 1; + marker.colors.push_back(color); + marker.colors.push_back(color); +#ifdef TRIANGLE + marker.colors.push_back(color); +#endif + } + +#ifdef TRIANGLE + marker.scale.x = 1; + marker.scale.y = 1; + marker.scale.z = 1; +#else + marker.scale.x = 0.01; +#endif + marker.color.a = 1.0; + marker.color.r = 0.0; + marker.color.g = 1.0; + marker.color.b = 0.0; + + // Now publish edge markers + teb_marker_pub_->publish( marker ); + + // Visualize vertices + marker.header.frame_id = cfg_->map_frame; + marker.header.stamp = nh_->now(); + marker.ns = ns_prefix + "Vertices"; + marker.id = 0; + marker.type = visualization_msgs::msg::Marker::POINTS; + marker.action = visualization_msgs::msg::Marker::ADD; + + GraphVertexIterator it_vert, end_vert; + for (boost::tie(it_vert,end_vert) = boost::vertices(graph); it_vert!=end_vert; ++it_vert) + { + geometry_msgs::msg::Point point; + point.x = graph[*it_vert].pos[0]; + point.y = graph[*it_vert].pos[1]; + point.z = 0; + marker.points.push_back(point); + // add color + + std_msgs::msg::ColorRGBA color; + color.a = 1.0; + if (it_vert==end_vert-1) + { + color.r = 1; + color.g = 0; + color.b = 0; + } + else + { + color.r = 0; + color.g = 1; + color.b = 0; + } + marker.colors.push_back(color); + } + // set first color (start vertix) to blue + if (!marker.colors.empty()) + { + marker.colors.front().b = 1; + marker.colors.front().g = 0; + } + + marker.scale.x = 0.1; + marker.scale.y = 0.1; + marker.color.a = 1.0; + marker.color.r = 0.0; + marker.color.g = 1.0; + marker.color.b = 0.0; + + // Now publish vertex markers + teb_marker_pub_->publish( marker ); +} + +template +void TebVisualization::publishPathContainer(BidirIter first, BidirIter last, const std::string& ns) +{ + if ( printErrorWhenNotInitialized() ) + return; + + visualization_msgs::msg::Marker marker; + marker.header.frame_id = cfg_->map_frame; + marker.header.stamp = nh_->now(); + marker.ns = ns; + marker.id = 0; + marker.type = visualization_msgs::msg::Marker::LINE_LIST; + marker.action = visualization_msgs::msg::Marker::ADD; + + typedef typename std::iterator_traits::value_type PathType; // Get type of the path (point container) + + // Iterate through path container + while(first != last) + { + // iterate single path points + typename PathType::const_iterator it_point, end_point; + for (it_point = first->begin(), end_point = std::prev(first->end()); it_point != end_point; ++it_point) + { + geometry_msgs::msg::Point point_start; + point_start.x = get_const_reference(*it_point).x(); + point_start.y = get_const_reference(*it_point).y(); + point_start.z = 0; + marker.points.push_back(point_start); + + geometry_msgs::msg::Point point_end; + point_end.x = get_const_reference(*std::next(it_point)).x(); + point_end.y = get_const_reference(*std::next(it_point)).y(); + point_end.z = 0; + marker.points.push_back(point_end); + } + ++first; + } + marker.scale.x = 0.01; + marker.color.a = 1.0; + marker.color.r = 0.0; + marker.color.g = 1.0; + marker.color.b = 0.0; + + teb_marker_pub_->publish( marker ); +} + + +} // namespace teb_local_planner diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/package.xml b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/package.xml new file mode 100644 index 0000000..770a32a --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/package.xml @@ -0,0 +1,53 @@ + + + teb_local_planner + + 0.9.1 + + + The teb_local_planner package implements a plugin + to the base_local_planner of the 2D navigation stack. + The underlying method called Timed Elastic Band locally optimizes + the robot's trajectory with respect to trajectory execution time, + separation from obstacles and compliance with kinodynamic constraints at runtime. + + + Christoph Rösmann + + BSD + + http://wiki.ros.org/teb_local_planner + + Christoph Rösmann + + ament_cmake + + costmap_converter + costmap_converter_msgs + + geometry_msgs + libg2o + dwb_critics + nav2_core + nav2_costmap_2d + nav2_msgs + nav2_util + pluginlib + rclcpp + rclcpp_action + rclcpp_lifecycle + std_msgs + teb_msgs + tf2 + tf2_eigen + visualization_msgs + builtin_interfaces + nav2_bringup + + ament_cmake_gtest + + + ament_cmake + + + diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/params/teb_params.yaml b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/params/teb_params.yaml new file mode 100644 index 0000000..4fc447b --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/params/teb_params.yaml @@ -0,0 +1,109 @@ +controller_server: + ros__parameters: + odom_topic: /odom + use_sim_time: True + controller_frequency: 5.0 + controller_plugin_types: ["teb_local_planner::TebLocalPlannerROS"] + controller_plugins: ["FollowPath"] + FollowPath: + plugin: teb_local_planner::TebLocalPlannerROS + + teb_autosize: 1.0 + dt_ref: 0.3 + dt_hysteresis: 0.1 + max_samples: 500 + global_plan_overwrite_orientation: False + allow_init_with_backwards_motion: False + max_global_plan_lookahead_dist: 3.0 + global_plan_viapoint_sep: 0.3 + global_plan_prune_distance: 1.0 + exact_arc_length: False + feasibility_check_no_poses: 2 + publish_feedback: False + + # Robot + + max_vel_x: 0.26 + max_vel_theta: 1.0 + acc_lim_x: 2.5 + acc_lim_theta: 3.2 + + footprint_model: # types: "point", "circular", "two_circles", "line", "polygon" + type: "circular" + radius: 0.17 # for type "circular" + + # GoalTolerance + + free_goal_vel: False + + # Obstacles + + min_obstacle_dist: 0.27 + inflation_dist: 0.6 + include_costmap_obstacles: True + costmap_obstacles_behind_robot_dist: 1.0 + obstacle_poses_affected: 15 + + dynamic_obstacle_inflation_dist: 0.6 + include_dynamic_obstacles: True + + costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH" + costmap_converter_spin_thread: True + costmap_converter_rate: 5 + + # Optimization + + no_inner_iterations: 5 + no_outer_iterations: 4 + optimization_activate: True + optimization_verbose: False + penalty_epsilon: 0.1 + obstacle_cost_exponent: 4.0 + weight_max_vel_x: 0.5 + weight_max_vel_theta: 0.5 + weight_acc_lim_x: 0.5 + weight_acc_lim_theta: 10.5 + weight_kinematics_nh: 1000.0 + weight_kinematics_forward_drive: 3.0 + weight_kinematics_turning_radius: 1.0 + weight_optimaltime: 1.0 # must be > 0 + weight_shortest_path: 0.0 + weight_obstacle: 100.0 + weight_inflation: 0.2 + weight_dynamic_obstacle: 10.0 # not in use yet + weight_dynamic_obstacle_inflation: 0.2 + weight_viapoint: 50.0 + weight_adapt_factor: 2.0 + + # Homotopy Class Planner + + enable_homotopy_class_planning: True + enable_multithreading: True + max_number_classes: 4 + selection_cost_hysteresis: 5.0 + selection_prefer_initial_plan: 1.0 + selection_obst_cost_scale: 1.0 + selection_alternative_time_cost: True + + roadmap_graph_no_samples: 15 + roadmap_graph_area_width: 5.0 + roadmap_graph_area_length_scale: 1.0 + h_signature_prescaler: 0.5 + h_signature_threshold: 0.1 + obstacle_heading_threshold: 0.45 + switching_blocking_period: 0.0 + viapoints_all_candidates: True + delete_detours_backwards: True + max_ratio_detours_duration_best_duration: 3.0 + visualize_hc_graph: False + visualize_with_time_as_z_axis_scale: 0.0 + + # Recovery + + shrink_horizon_backup: True + shrink_horizon_min_duration: 10.0 + oscillation_recovery: True + oscillation_v_eps: 0.1 + oscillation_omega_eps: 0.1 + oscillation_recovery_min_duration: 10.0 + oscillation_filter_duration: 10.0 diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/scripts/cmd_vel_to_ackermann_drive.py b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/scripts/cmd_vel_to_ackermann_drive.py new file mode 100755 index 0000000..d8c5b5f --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/scripts/cmd_vel_to_ackermann_drive.py @@ -0,0 +1,60 @@ +#!/usr/bin/env python3 + +# Author: christoph.roesmann@tu-dortmund.de + +import rclpy, math +from geometry_msgs.msg import Twist +from ackermann_msgs.msg import AckermannDriveStamped + + +def convert_trans_rot_vel_to_steering_angle(v, omega, wheelbase): + if omega == 0 or v == 0: + return 0 + + radius = v / omega + return math.atan(wheelbase / radius) + + +def cmd_callback(data): + global wheelbase + global ackermann_cmd_topic + global frame_id + global pub + global cmd_angle_instead_rotvel + + v = data.linear.x + # if cmd_angle_instead_rotvel is true, the rotational velocity is already converted in the C++ node + # in this case this script only needs to do the msg conversion from twist to Ackermann drive + if cmd_angle_instead_rotvel: + steering = data.angular.z + else: + steering = convert_trans_rot_vel_to_steering_angle(v, data.angular.z, wheelbase) + + msg = AckermannDriveStamped() + msg.header.stamp = node.get_clock().now().to_msg() + msg.header.frame_id = frame_id + msg.drive.steering_angle = float(steering) + msg.drive.speed = float(v) + + pub.publish(msg) + + + + + +if __name__ == '__main__': + rclpy.init() + global node + node = rclpy.create_node('cmd_vel_to_ackermann_drive') + + twist_cmd_topic = node.declare_parameter("twist_cmd_topic", "/cmd_vel").value + ackermann_cmd_topic = node.declare_parameter("ackermann_cmd_topic", "/ackermann_cmd").value + wheelbase = node.declare_parameter("wheelbase", 1.0).value + frame_id = node.declare_parameter('frame_id', 'odom').value + cmd_angle_instead_rotvel = node.declare_parameter('cmd_angle_instead_rotvel', False).value + + node.create_subscription(Twist, twist_cmd_topic, cmd_callback, 1) + pub = node.create_publisher(AckermannDriveStamped, ackermann_cmd_topic, 1) + + rclpy.spin(node) + diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/scripts/export_to_mat.py b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/scripts/export_to_mat.py new file mode 100755 index 0000000..1cc3351 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/scripts/export_to_mat.py @@ -0,0 +1,112 @@ +#!/usr/bin/env python + +# This small script subscribes to the FeedbackMsg message of teb_local_planner +# and exports data to a mat file. +# publish_feedback must be turned on such that the planner publishes this information. +# Author: christoph.roesmann@tu-dortmund.de + +import rospy, math +from teb_local_planner.msg import FeedbackMsg, TrajectoryMsg, TrajectoryPointMsg +from geometry_msgs.msg import PolygonStamped, Point32, Quaternion +from tf.transformations import euler_from_quaternion +import numpy as np +import scipy.io as sio +import time + +def feedback_callback(data): + global got_data + + if not data.trajectories: # empty + trajectory = [] + return + + if got_data: + return + + got_data = True + + # copy trajectory + trajectories = [] + for traj in data.trajectories: + trajectory = [] +# # store as struct and cell array +# for point in traj.trajectory: +# (roll,pitch,yaw) = euler_from_quaternion([point.pose.orientation.x,point.pose.orientation.y,point.pose.orientation.z,point.pose.orientation.w]) +# pose = {'x': point.pose.position.x, 'y': point.pose.position.y, 'theta': yaw} +# velocity = {'v': point.velocity.linear.x, 'omega': point.velocity.angular.z} +# time_from_start = point.time_from_start.to_sec() +# trajectory.append({'pose': pose, 'velocity': velocity, 'time_from_start': time_from_start}) + + # store as all-in-one mat + arr = np.zeros([6, len(traj.trajectory)], dtype='double'); # x, y, theta, v, omega, t + for index, point in enumerate(traj.trajectory): + arr[0,index] = point.pose.position.x + arr[1,index] = point.pose.position.y + (roll,pitch,yaw) = euler_from_quaternion([point.pose.orientation.x,point.pose.orientation.y,point.pose.orientation.z,point.pose.orientation.w]) + arr[2,index] = yaw + arr[3,index] = point.velocity.linear.x + arr[4,index] = point.velocity.angular.z + arr[5,index] = point.time_from_start.to_sec() + +# trajectories.append({'raw': trajectory, 'mat': arr}) + trajectories.append({'data': arr, 'legend': ['x','y','theta','v','omega','t']}) + + # copy obstacles + obstacles = [] + for obst_id, obst in enumerate(data.obstacle_msg.obstacles): + #polygon = [] + #for point in obst.polygon.points: + # polygon.append({'x': point.x, 'y': point.y, 'z': point.z}) + obst_arr = np.zeros([4, len(obst.polygon.points)], dtype='double'); # x, y + for index, point in enumerate(obst.polygon.points): + obst_arr[0, index] = point.x + obst_arr[1, index] = point.y + obst_arr[2, index] = data.obstacle_msg.velocities[obst_id].twist.linear.x + obst_arr[3, index] = data.obstacle_msg.velocities[obst_id].twist.linear.y + + #obstacles.append(polygon) + obstacles.append({'data': obst_arr, 'legend': ['x','y', 'v_x', 'v_y']}) + + + # create main struct: + mat = {'selected_trajectory_idx': data.selected_trajectory_idx, 'trajectories': trajectories, 'obstacles': obstacles} + + timestr = time.strftime("%Y%m%d_%H%M%S") + filename = '/home/albers/MasterThesis/Matlab/Homotopie/test_optim_node/' + 'teb_data_' + timestr + '.mat' + + rospy.loginfo("Saving mat-file '%s'.", filename) + sio.savemat(filename, mat) + + + + + +def feedback_exporter(): + global got_data + + rospy.init_node("export_to_mat", anonymous=True) + + + topic_name = "/test_optim_node/teb_feedback" # define feedback topic here! + + rospy.Subscriber(topic_name, FeedbackMsg, feedback_callback, queue_size = 1) + + rospy.loginfo("Waiting for feedback message on topic %s.", topic_name) + + r = rospy.Rate(2) # define rate here + while not rospy.is_shutdown(): + + if got_data: + rospy.loginfo("Data export completed.") + return + + r.sleep() + +if __name__ == '__main__': + try: + global got_data + got_data = False + feedback_exporter() + except rospy.ROSInterruptException: + pass + diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/scripts/export_to_svg.py b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/scripts/export_to_svg.py new file mode 100755 index 0000000..8d5edf2 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/scripts/export_to_svg.py @@ -0,0 +1,244 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +""" +======================================================================================== +# This small script subscribes to the FeedbackMsg message of teb_local_planner +# and converts the current scene to a svg-image +# publish_feedback must be turned on such that the planner publishes this information. +# Author: christoph.roesmann@tu-dortmund.de + +It is recommendable to start this node after initialization of TEB is completed. + +Requirements: +svgwrite: A Python library to create SVG drawings. http://pypi.python.org/pypi/svgwrite +======================================================================================= +""" +import roslib; +import rospy +import svgwrite +import math +import sys +import time +import random +from svgwrite import cm, mm +from teb_local_planner.msg import FeedbackMsg, TrajectoryMsg, TrajectoryPointMsg +from geometry_msgs.msg import PolygonStamped, Point32, Quaternion + + +# ================= PARAMETERS ================== +# TODO: In case of a more general node, change parameter to ros-parameter +# Drawing parameters: +SCALE = 200 # Overall scaling: 100 pixel = 1 m +MIN_POSE_DISTANCE = 0.3 # Distance between two consecutive poses in SVG-image +SCALE_VELOCITY_VEC = 0.4 # Scaling of velocity vectors -> 1 cell = 1/SCALE_VELOCITY_VEC m/s +GRID_X_MIN = -2 # Define, how many cells your grid should contain in each direction. +GRID_X_MAX = 2 +GRID_Y_MIN = -2 +GRID_Y_MAX = 1 + +# TEB parameters: +OBSTACLE_DIST = 50 *SCALE/100 # cm + + +# ================= FUNCTIONS =================== + +def sign(number): + """ + Signum function: get sign of a number + + @param number: get sign of this number + @type number: numeric type (eg. integer) + @return: sign of number + @rtype: integer {1, -1, 0} + """ + return cmp(number,0) + +def arrowMarker(color='green', orientation='auto'): + """ + Create an arrow marker with svgwrite + + @return: arrow marker + @rtype: svg_write marker object + """ + arrow = svg.marker(insert=(1,5), size=(4,3), orient=orientation) + arrow.viewbox(width=10, height=10) + arrow.add(svg.polyline([(0,0),(10,5),(0,10),(1,5)], fill=color, opacity=1.0)) + svg.defs.add(arrow) + return arrow + +def quaternion2YawDegree(orientation): + """ + Get yaw angle [degree] from quaternion representation + + @param orientation: orientation in quaternions to read from + @type orientation: geometry_msgs/Quaternion + @return: yaw angle [degree] + @rtype: float + """ + yawRad = math.atan2(2*(orientation.x*orientation.y+orientation.z*orientation.w),1-2*(pow(orientation.y,2)+pow(orientation.z,2))) + return yawRad*180/math.pi + + +def feedback_callback(data): + """ + Callback for receiving TEB and obstacle information + + @param data: Received feedback message + @type data: visualization_msgs/Marker + + @globalparam tebList: Received TEB List + @globaltype tebList: teb_local_planner/FeedbackMsg + """ + # TODO: Remove global variables + global feedbackMsg + + if not feedbackMsg: + feedbackMsg = data + rospy.loginfo("TEB feedback message received...") + + +# ================ MAIN FUNCTION ================ + +if __name__ == '__main__': + rospy.init_node('export_to_svg', anonymous=True) + + topic_name = "/test_optim_node/teb_feedback" # define feedback topic here! + + rospy.Subscriber(topic_name, FeedbackMsg, feedback_callback, queue_size = 1) + + rospy.loginfo("Waiting for feedback message on topic %s.", topic_name) + + rate = rospy.Rate(10.0) + feedbackMsg = [] + + timestr = time.strftime("%Y%m%d_%H%M%S") + filename_string = "teb_svg_" + timestr + '.svg' + + rospy.loginfo("SVG will be written to '%s'.", filename_string) + + random.seed(0) + + svg=svgwrite.Drawing(filename=filename_string, debug=True) + + # Create viewbox -> this box defines the size of the visible drawing + svg.viewbox(GRID_X_MIN*SCALE-1*SCALE,GRID_Y_MIN*SCALE-1*SCALE,GRID_X_MAX*SCALE-GRID_X_MIN*SCALE+2*SCALE,GRID_Y_MAX*SCALE-GRID_Y_MIN*SCALE+2*SCALE) + + # Draw grid: + hLines = svg.add(svg.g(id='hLines', stroke='black')) + hLines.add(svg.line(start=(GRID_X_MIN*SCALE, 0), end=(GRID_X_MAX*SCALE, 0))) + for y in range(GRID_Y_MAX): + hLines.add(svg.line(start=(GRID_X_MIN*SCALE, SCALE+y*SCALE), end=(GRID_X_MAX*SCALE, SCALE+y*SCALE))) + for y in range(-GRID_Y_MIN): + hLines.add(svg.line(start=(GRID_X_MIN*SCALE, -SCALE-y*SCALE), end=(GRID_X_MAX*SCALE, -SCALE-y*SCALE))) + vLines = svg.add(svg.g(id='vline', stroke='black')) + vLines.add(svg.line(start=(0, GRID_Y_MIN*SCALE), end=(0, GRID_Y_MAX*SCALE))) + for x in range(GRID_X_MAX): + vLines.add(svg.line(start=(SCALE+x*SCALE, GRID_Y_MIN*SCALE), end=(SCALE+x*SCALE, GRID_Y_MAX*SCALE))) + for x in range(-GRID_X_MIN): + vLines.add(svg.line(start=(-SCALE-x*SCALE, GRID_Y_MIN*SCALE), end=(-SCALE-x*SCALE, GRID_Y_MAX*SCALE))) + + + # Draw legend: + legend = svg.g(id='legend', font_size=25) + stringGeometry = "Geometry: 1 Unit = 1.0m" + legendGeometry = svg.text(stringGeometry) + legend.add(legendGeometry) + legend.translate(tx=GRID_X_MIN*SCALE, ty=GRID_Y_MAX*SCALE + 30) # Move legend to buttom left corner + svg.add(legend) + + + #arrow = arrowMarker() # Init arrow marker + + rospy.loginfo("Initialization completed.\nWaiting for feedback message...") + + # -------------------- WAIT FOR CALLBACKS -------------------------- + while not rospy.is_shutdown(): + if feedbackMsg: + break # Leave loop after receiving all necessary TEB information (see callbacks) to finish drawing + rate.sleep() + # ------------------------------------------------------------------ + + if not feedbackMsg.trajectories: + rospy.loginfo("Received message does not contain trajectories. Shutting down...") + sys.exit() + + if len(feedbackMsg.trajectories[0].trajectory) < 2: + rospy.loginfo("Received message does not contain trajectories with at least two states (start and goal). Shutting down...") + sys.exit() + + # iterate trajectories + for index, traj in enumerate(feedbackMsg.trajectories): + + #color + traj_color = svgwrite.rgb(random.randint(0, 255), random.randint(0, 255), random.randint(0, 255), 'RGB') + + # Iterate through TEB positions -> Draw Paths + points = [] + for point in traj.trajectory: + points.append( (point.pose.position.x*SCALE,-point.pose.position.y*SCALE) ) # y is negative in image coordinates + # svgwrite rotates clockwise! + + + if index == feedbackMsg.selected_trajectory_idx: # highlight currently selected teb + line = svg.add( svg.polyline(points=points, fill='none', stroke=traj_color, stroke_width=10, stroke_linecap='round', \ + stroke_linejoin='round', opacity=1.0 ) ) + else: + line = svg.add( svg.polyline(points=points, fill='none', stroke=traj_color, stroke_width=10, stroke_linecap='butt', \ + stroke_linejoin='round', stroke_dasharray='10,3', opacity=1.0 ) ) + #marker_points = points[::7] + #markerline = svg.add( svg.polyline(points=marker_points, fill='none', stroke=traj_color, stroke_width=10, opacity=0.0 ) ) + #arrow = arrowMarker(traj_color) + #markerline.set_markers( (arrow, arrow, arrow) ) + #line.set_markers( (arrow, arrow, arrow) ) + #line['marker-start'] = arrow.get_funciri() + + + # Add Start and Goal Point + start_pose = feedbackMsg.trajectories[0].trajectory[0].pose + goal_pose = feedbackMsg.trajectories[0].trajectory[len(feedbackMsg.trajectories[0].trajectory)-1].pose + start_position = start_pose.position + goal_position = goal_pose.position + svg.add(svg.circle(center=(start_position.x*SCALE,-start_position.y*SCALE), r=10, stroke_width=1, stroke='blue', fill ='blue')) + svg.add(svg.text("Start", (start_position.x*SCALE-70, -start_position.y*SCALE+45), font_size=35)) # Add label + svg.add(svg.circle(center=(goal_position.x*SCALE,-goal_position.y*SCALE), r=10, stroke_width=1, stroke='red', fill ='red')) + svg.add(svg.text("Goal", (goal_position.x*SCALE-40, -goal_position.y*SCALE+45), font_size=35)) # Add label + + # draw start arrow + start_arrow = svg.polyline([(0,-1),(6,-1),(5,-5),(15,0),(5,5),(6,1),(0,1)], fill='blue', opacity=1.0) + start_arrow.translate(start_position.x*SCALE,-start_position.y*SCALE) + start_arrow.rotate( quaternion2YawDegree(start_pose.orientation) ) + start_arrow.scale(3) + svg.add(start_arrow) + + # draw goal arrow + goal_arrow = svg.polyline([(0,-1),(6,-1),(5,-5),(15,0),(5,5),(6,1),(0,1)], fill='red', opacity=1.0) + goal_arrow.translate(goal_position.x*SCALE,-goal_position.y*SCALE) + goal_arrow.rotate( quaternion2YawDegree(goal_pose.orientation) ) + goal_arrow.scale(3) + svg.add(goal_arrow) + + # Draw obstacles + for obstacle in feedbackMsg.obstacles: + if len(obstacle.polygon.points) == 1: # point obstacle + point = obstacle.polygon.points[0] + svg.add(svg.circle(center=(point.x*SCALE,-point.y*SCALE), r=OBSTACLE_DIST, stroke_width=1, stroke='grey', fill ='grey', opacity=0.3)) + svg.add(svg.circle(center=(point.x*SCALE,-point.y*SCALE), r=15, stroke_width=1, stroke='black', fill ='black')) + svg.add(svg.text("Obstacle", (point.x*SCALE-70, -point.y*SCALE+45), font_size=35)) # Add label + if len(obstacle.polygon.points) == 2: # line obstacle + line_start = obstacle.polygon.points[0] + line_end = obstacle.polygon.points[1] + svg.add(svg.line(start=(line_start.x*SCALE,-line_start.y*SCALE), end=(line_end.x*SCALE,-line_end.y*SCALE), stroke='black', fill='gray', stroke_width=1, opacity=1.0)) + svg.add(svg.text("Obstacle", (line_start.x*SCALE-70, -line_start.y*SCALE+45), font_size=35)) # Add label + if len(obstacle.polygon.points) > 2: # polygon obstacle + vertices = [] + for point in obstacle.polygon.points: + vertices.append((point.x*SCALE, -point.y*SCALE)) + svg.add(svg.polygon(points=vertices, stroke='black', fill='gray', stroke_width=1, opacity=1.0)) + svg.add(svg.text("Obstacle", (obstacle.polygon.points[0].x*SCALE-70, -obstacle.polygon.points.y*SCALE+45), font_size=35)) # Add label + + + + # Save svg to file (svg_output.svg) and exit node + svg.save() + + rospy.loginfo("Drawing completed.") diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/scripts/publish_dynamic_obstacle.py b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/scripts/publish_dynamic_obstacle.py new file mode 100755 index 0000000..0cc16d4 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/scripts/publish_dynamic_obstacle.py @@ -0,0 +1,67 @@ +#!/usr/bin/env python + +# Author: franz.albers@tu-dortmund.de + +import rospy, math, tf +from costmap_converter.msg import ObstacleArrayMsg, ObstacleMsg +from geometry_msgs.msg import PolygonStamped, Point32, QuaternionStamped, Quaternion, TwistWithCovariance +from tf.transformations import quaternion_from_euler + + +def publish_obstacle_msg(): + pub = rospy.Publisher('/test_optim_node/obstacles', ObstacleArrayMsg, queue_size=1) + #pub = rospy.Publisher('/p3dx/move_base/TebLocalPlannerROS/obstacles', ObstacleArrayMsg, queue_size=1) + rospy.init_node("test_obstacle_msg") + + y_0 = -3.0 + vel_x = 0.0 + vel_y = 0.3 + range_y = 6.0 + + obstacle_msg = ObstacleArrayMsg() + obstacle_msg.header.stamp = rospy.Time.now() + obstacle_msg.header.frame_id = "map" # CHANGE HERE: odom/map + + # Add point obstacle + obstacle_msg.obstacles.append(ObstacleMsg()) + obstacle_msg.obstacles[0].id = 99 + obstacle_msg.obstacles[0].polygon.points = [Point32()] + obstacle_msg.obstacles[0].polygon.points[0].x = -1.5 + obstacle_msg.obstacles[0].polygon.points[0].y = 0 + obstacle_msg.obstacles[0].polygon.points[0].z = 0 + + yaw = math.atan2(vel_y, vel_x) + q = tf.transformations.quaternion_from_euler(0,0,yaw) + obstacle_msg.obstacles[0].orientation = Quaternion(*q) + + obstacle_msg.obstacles[0].velocities.twist.linear.x = vel_x + obstacle_msg.obstacles[0].velocities.twist.linear.y = vel_y + obstacle_msg.obstacles[0].velocities.twist.linear.z = 0 + obstacle_msg.obstacles[0].velocities.twist.angular.x = 0 + obstacle_msg.obstacles[0].velocities.twist.angular.y = 0 + obstacle_msg.obstacles[0].velocities.twist.angular.z = 0 + + r = rospy.Rate(10) # 10hz + t = 0.0 + while not rospy.is_shutdown(): + + # Vary y component of the point obstacle + if (vel_y >= 0): + obstacle_msg.obstacles[0].polygon.points[0].y = y_0 + (vel_y*t)%range_y + else: + obstacle_msg.obstacles[0].polygon.points[0].y = y_0 + (vel_y*t)%range_y - range_y + + t = t + 0.1 + + pub.publish(obstacle_msg) + + r.sleep() + + + +if __name__ == '__main__': + try: + publish_obstacle_msg() + except rospy.ROSInterruptException: + pass + diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/scripts/publish_test_obstacles.py b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/scripts/publish_test_obstacles.py new file mode 100755 index 0000000..800803d --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/scripts/publish_test_obstacles.py @@ -0,0 +1,76 @@ +#!/usr/bin/env python + +# Author: christoph.roesmann@tu-dortmund.de + +import rospy, math +from costmap_converter.msg import ObstacleArrayMsg, ObstacleMsg +from geometry_msgs.msg import PolygonStamped, Point32 + + +def publish_obstacle_msg(): + pub = rospy.Publisher('/test_optim_node/obstacles', ObstacleArrayMsg, queue_size=1) + #pub = rospy.Publisher('/p3dx/move_base/TebLocalPlannerROS/obstacles', ObstacleArrayMsg, queue_size=1) + rospy.init_node("test_obstacle_msg") + + + obstacle_msg = ObstacleArrayMsg() + obstacle_msg.header.stamp = rospy.Time.now() + obstacle_msg.header.frame_id = "odom" # CHANGE HERE: odom/map + + # Add point obstacle + obstacle_msg.obstacles.append(ObstacleMsg()) + obstacle_msg.obstacles[0].id = 0 + obstacle_msg.obstacles[0].polygon.points = [Point32()] + obstacle_msg.obstacles[0].polygon.points[0].x = 1.5 + obstacle_msg.obstacles[0].polygon.points[0].y = 0 + obstacle_msg.obstacles[0].polygon.points[0].z = 0 + + + # Add line obstacle + obstacle_msg.obstacles.append(ObstacleMsg()) + obstacle_msg.obstacles[1].id = 1 + line_start = Point32() + line_start.x = -2.5 + line_start.y = 0.5 + #line_start.y = -3 + line_end = Point32() + line_end.x = -2.5 + line_end.y = 2 + #line_end.y = -4 + obstacle_msg.obstacles[1].polygon.points = [line_start, line_end] + + # Add polygon obstacle + obstacle_msg.obstacles.append(ObstacleMsg()) + obstacle_msg.obstacles[1].id = 2 + v1 = Point32() + v1.x = -1 + v1.y = -1 + v2 = Point32() + v2.x = -0.5 + v2.y = -1.5 + v3 = Point32() + v3.x = 0 + v3.y = -1 + obstacle_msg.obstacles[2].polygon.points = [v1, v2, v3] + + + r = rospy.Rate(10) # 10hz + t = 0.0 + while not rospy.is_shutdown(): + + # Vary y component of the point obstacle + obstacle_msg.obstacles[0].polygon.points[0].y = 1*math.sin(t) + t = t + 0.1 + + pub.publish(obstacle_msg) + + r.sleep() + + + +if __name__ == '__main__': + try: + publish_obstacle_msg() + except rospy.ROSInterruptException: + pass + diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/scripts/publish_viapoints.py b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/scripts/publish_viapoints.py new file mode 100755 index 0000000..7bd0c7e --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/scripts/publish_viapoints.py @@ -0,0 +1,46 @@ +#!/usr/bin/env python + +# Author: christoph.roesmann@tu-dortmund.de + +import rospy, math +from geometry_msgs.msg import PoseStamped +from nav_msgs.msg import Path + + +def publish_via_points_msg(): + pub = rospy.Publisher('/test_optim_node/via_points', Path, queue_size=1) + rospy.init_node("test_via_points_msg") + + + via_points_msg = Path() + via_points_msg.header.stamp = rospy.Time.now() + via_points_msg.header.frame_id = "odom" # CHANGE HERE: odom/map + + # Add via-points + point1 = PoseStamped() + point1.pose.position.x = 0.0; + point1.pose.position.y = 1.5; + + point2 = PoseStamped() + point2.pose.position.x = 2.0; + point2.pose.position.y = -0.5; + + + via_points_msg.poses = [point1, point2] + + r = rospy.Rate(5) # 10hz + t = 0.0 + while not rospy.is_shutdown(): + + pub.publish(via_points_msg) + + r.sleep() + + + +if __name__ == '__main__': + try: + publish_via_points_msg() + except rospy.ROSInterruptException: + pass + diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/scripts/visualize_velocity_profile.py b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/scripts/visualize_velocity_profile.py new file mode 100755 index 0000000..b9b6d78 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/scripts/visualize_velocity_profile.py @@ -0,0 +1,76 @@ +#!/usr/bin/env python + +# This small script subscribes to the FeedbackMsg message of teb_local_planner +# and plots the current velocity. +# publish_feedback must be turned on such that the planner publishes this information. +# Author: christoph.roesmann@tu-dortmund.de + +import rospy, math +from teb_local_planner.msg import FeedbackMsg, TrajectoryMsg, TrajectoryPointMsg +from geometry_msgs.msg import PolygonStamped, Point32 +import numpy as np +import matplotlib.pyplot as plotter + +def feedback_callback(data): + global trajectory + + if not data.trajectories: # empty + trajectory = [] + return + trajectory = data.trajectories[data.selected_trajectory_idx].trajectory + + +def plot_velocity_profile(fig, ax_v, ax_omega, t, v, omega): + ax_v.cla() + ax_v.grid() + ax_v.set_ylabel('Trans. velocity [m/s]') + ax_v.plot(t, v, '-bx') + ax_omega.cla() + ax_omega.grid() + ax_omega.set_ylabel('Rot. velocity [rad/s]') + ax_omega.set_xlabel('Time [s]') + ax_omega.plot(t, omega, '-bx') + fig.canvas.draw() + + + +def velocity_plotter(): + global trajectory + rospy.init_node("visualize_velocity_profile", anonymous=True) + + topic_name = "/test_optim_node/teb_feedback" + topic_name = rospy.get_param('~feedback_topic', topic_name) + rospy.Subscriber(topic_name, FeedbackMsg, feedback_callback, queue_size = 1) # define feedback topic here! + + rospy.loginfo("Visualizing velocity profile published on '%s'.",topic_name) + rospy.loginfo("Make sure to enable rosparam 'publish_feedback' in the teb_local_planner.") + + # two subplots sharing the same t axis + fig, (ax_v, ax_omega) = plotter.subplots(2, sharex=True) + plotter.ion() + plotter.show() + + + r = rospy.Rate(2) # define rate here + while not rospy.is_shutdown(): + + t = [] + v = [] + omega = [] + + for point in trajectory: + t.append(point.time_from_start.to_sec()) + v.append(point.velocity.linear.x) + omega.append(point.velocity.angular.z) + + plot_velocity_profile(fig, ax_v, ax_omega, np.asarray(t), np.asarray(v), np.asarray(omega)) + + r.sleep() + +if __name__ == '__main__': + try: + trajectory = [] + velocity_plotter() + except rospy.ROSInterruptException: + pass + diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/graph_search.cpp b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/graph_search.cpp new file mode 100644 index 0000000..f2d1218 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/graph_search.cpp @@ -0,0 +1,346 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Authors: Christoph Rösmann, Franz Albers + *********************************************************************/ + +#include "teb_local_planner/graph_search.h" +#include "teb_local_planner/homotopy_class_planner.h" + +namespace teb_local_planner +{ + +void GraphSearchInterface::DepthFirst(HcGraph& g, std::vector& visited, const HcGraphVertexType& goal, double start_orientation, + double goal_orientation, const geometry_msgs::msg::Twist* start_velocity, bool free_goal_vel) +{ + // see http://www.technical-recipes.com/2011/a-recursive-algorithm-to-find-all-paths-between-two-given-nodes/ for details on finding all simple paths + + if ((int)hcp_->getTrajectoryContainer().size() >= cfg_->hcp.max_number_classes) + return; // We do not need to search for further possible alternative homotopy classes. + + HcGraphVertexType back = visited.back(); + + /// Examine adjacent nodes + HcGraphAdjecencyIterator it, end; + for ( boost::tie(it,end) = boost::adjacent_vertices(back,g); it!=end; ++it) + { + if ( std::find(visited.begin(), visited.end(), *it)!=visited.end() ) + continue; // already visited + + if ( *it == goal ) // goal reached + { + visited.push_back(*it); + + // Add new TEB, if this path belongs to a new homotopy class + hcp_->addAndInitNewTeb(visited.begin(), visited.end(), std::bind(getVector2dFromHcGraph, std::placeholders::_1, boost::cref(graph_)), + start_orientation, goal_orientation, start_velocity); + + visited.pop_back(); + break; + } + } + + /// Recursion for all adjacent vertices + for ( boost::tie(it,end) = boost::adjacent_vertices(back,g); it!=end; ++it) + { + if ( std::find(visited.begin(), visited.end(), *it)!=visited.end() || *it == goal) + continue; // already visited || goal reached + + + visited.push_back(*it); + + // recursion step + DepthFirst(g, visited, goal, start_orientation, goal_orientation, start_velocity, free_goal_vel); + + visited.pop_back(); + } +} + + + +void lrKeyPointGraph::createGraph(const PoseSE2& start, const PoseSE2& goal, double dist_to_obst, double obstacle_heading_threshold, const geometry_msgs::msg::Twist* start_velocity, bool free_goal_vel) +{ + // Clear existing graph and paths + clearGraph(); + if((int)hcp_->getTrajectoryContainer().size() >= cfg_->hcp.max_number_classes) + return; + // Direction-vector between start and goal and normal-vector: + Eigen::Vector2d diff = goal.position()-start.position(); + + if (diff.norm()goal_tolerance.xy_goal_tolerance) + { + RCLCPP_DEBUG(rclcpp::get_logger("teb_local_planner"), + "HomotopyClassPlanner::createProbRoadmapGraph(): xy-goal-tolerance already reached."); + if (hcp_->getTrajectoryContainer().empty()) + { + RCLCPP_INFO(rclcpp::get_logger("teb_local_planner"), + "HomotopyClassPlanner::createProbRoadmapGraph(): Initializing a small straight line to just correct orientation errors."); + hcp_->addAndInitNewTeb(start, goal, start_velocity, free_goal_vel); + } + return; + } + + Eigen::Vector2d normal(-diff[1],diff[0]); // normal-vector + normal.normalize(); + normal = normal*dist_to_obst; // scale with obstacle_distance; + + // Insert Vertices + HcGraphVertexType start_vtx = boost::add_vertex(graph_); // start vertex + graph_[start_vtx].pos = start.position(); + diff.normalize(); + + // store nearest obstacle keypoints -> only used if limit_obstacle_heading is enabled + std::pair nearest_obstacle; // both vertices are stored + double min_dist = DBL_MAX; + + if (hcp_->obstacles()!=NULL) + { + for (ObstContainer::const_iterator it_obst = hcp_->obstacles()->begin(); it_obst != hcp_->obstacles()->end(); ++it_obst) + { + // check if obstacle is placed in front of start point + Eigen::Vector2d start2obst = (*it_obst)->getCentroid() - start.position(); + double dist = start2obst.norm(); + if (start2obst.dot(diff)/dist<0.1) + continue; + + // Add Keypoints + HcGraphVertexType u = boost::add_vertex(graph_); + graph_[u].pos = (*it_obst)->getCentroid() + normal; + HcGraphVertexType v = boost::add_vertex(graph_); + graph_[v].pos = (*it_obst)->getCentroid() - normal; + + // store nearest obstacle + if (obstacle_heading_threshold && distobstacles()!=NULL) + { + bool collision = false; + for (ObstContainer::const_iterator it_obst = hcp_->obstacles()->begin(); it_obst != hcp_->obstacles()->end(); ++it_obst) + { + if ( (*it_obst)->checkLineIntersection(graph_[*it_i].pos,graph_[*it_j].pos, 0.5*dist_to_obst) ) + { + collision = true; + break; + } + } + if (collision) + continue; + } + + // Create Edge + boost::add_edge(*it_i,*it_j,graph_); + } + } + + + // Find all paths between start and goal! + std::vector visited; + visited.push_back(start_vtx); + DepthFirst(graph_,visited,goal_vtx, start.theta(), goal.theta(), start_velocity, free_goal_vel); +} + + +void ProbRoadmapGraph::createGraph(const PoseSE2& start, const PoseSE2& goal, double dist_to_obst, double obstacle_heading_threshold, const geometry_msgs::msg::Twist* start_velocity, bool free_goal_vel) +{ + // Clear existing graph and paths + clearGraph(); + if((int)hcp_->getTrajectoryContainer().size() >= cfg_->hcp.max_number_classes) + return; + // Direction-vector between start and goal and normal-vector: + Eigen::Vector2d diff = goal.position()-start.position(); + double start_goal_dist = diff.norm(); + + if (start_goal_distgoal_tolerance.xy_goal_tolerance) + { + RCLCPP_DEBUG(rclcpp::get_logger("teb_local_planner"), + "HomotopyClassPlanner::createProbRoadmapGraph(): xy-goal-tolerance already reached."); + if (hcp_->getTrajectoryContainer().empty()) + { + RCLCPP_INFO(rclcpp::get_logger("teb_local_planner"), + "HomotopyClassPlanner::createProbRoadmapGraph(): Initializing a small straight line to just correct orientation errors."); + hcp_->addAndInitNewTeb(start, goal, start_velocity, free_goal_vel); + } + return; + } + Eigen::Vector2d normal(-diff.coeffRef(1),diff.coeffRef(0)); // normal-vector + normal.normalize(); + + // Now sample vertices between start, goal and a specified width between both sides + // Let's start with a square area between start and goal (maybe change it later to something like a circle or whatever) + + double area_width = cfg_->hcp.roadmap_graph_area_width; + + boost::random::uniform_real_distribution distribution_x(0, start_goal_dist * cfg_->hcp.roadmap_graph_area_length_scale); + boost::random::uniform_real_distribution distribution_y(0, area_width); + + double phi = atan2(diff.coeffRef(1),diff.coeffRef(0)); // rotate area by this angle + Eigen::Rotation2D rot_phi(phi); + + Eigen::Vector2d area_origin; + if (cfg_->hcp.roadmap_graph_area_length_scale != 1.0) + area_origin = start.position() + 0.5*(1.0-cfg_->hcp.roadmap_graph_area_length_scale)*start_goal_dist*diff.normalized() - 0.5*area_width*normal; // bottom left corner of the origin + else + area_origin = start.position() - 0.5*area_width*normal; // bottom left corner of the origin + + // Insert Vertices + HcGraphVertexType start_vtx = boost::add_vertex(graph_); // start vertex + graph_[start_vtx].pos = start.position(); + diff.normalize(); // normalize in place + + + // Start sampling + for (int i=0; i < cfg_->hcp.roadmap_graph_no_samples; ++i) + { + Eigen::Vector2d sample; +// bool coll_free; +// do // sample as long as a collision free sample is found +// { + // Sample coordinates + sample = area_origin + rot_phi*Eigen::Vector2d(distribution_x(rnd_generator_), distribution_y(rnd_generator_)); + + // Test for collision + // we do not care for collision checking here to improve efficiency, since we perform resampling repeatedly. + // occupied vertices are ignored in the edge insertion state since they always violate the edge-obstacle collision check. +// coll_free = true; +// for (ObstContainer::const_iterator it_obst = obstacles_->begin(); it_obst != obstacles_->end(); ++it_obst) +// { +// if ( (*it_obst)->checkCollision(sample, dist_to_obst)) // TODO really keep dist_to_obst here? +// { +// coll_free = false; +// break; +// } +// } +// +// } while (!coll_free && ros::ok()); + + // Add new vertex + HcGraphVertexType v = boost::add_vertex(graph_); + graph_[v].pos = sample; + } + + // Now add goal vertex + HcGraphVertexType goal_vtx = boost::add_vertex(graph_); // goal vertex + graph_[goal_vtx].pos = goal.position(); + + + // Insert Edges + HcGraphVertexIterator it_i, end_i, it_j, end_j; + for (boost::tie(it_i,end_i) = boost::vertices(graph_); it_i!=boost::prior(end_i); ++it_i) // ignore goal in this loop + { + for (boost::tie(it_j,end_j) = boost::vertices(graph_); it_j!=end_j; ++it_j) // check all forward connections + { + if (it_i==it_j) // same vertex found + continue; + + Eigen::Vector2d distij = graph_[*it_j].pos-graph_[*it_i].pos; + distij.normalize(); // normalize in place + + // Check if the direction is backwards: + if (distij.dot(diff)<=obstacle_heading_threshold) + continue; // diff is already normalized + + + // Collision Check + bool collision = false; + for (ObstContainer::const_iterator it_obst = hcp_->obstacles()->begin(); it_obst != hcp_->obstacles()->end(); ++it_obst) + { + if ( (*it_obst)->checkLineIntersection(graph_[*it_i].pos,graph_[*it_j].pos, dist_to_obst) ) + { + collision = true; + break; + } + } + if (collision) + continue; + + // Create Edge + boost::add_edge(*it_i,*it_j,graph_); + } + } + + /// Find all paths between start and goal! + std::vector visited; + visited.push_back(start_vtx); + DepthFirst(graph_,visited,goal_vtx, start.theta(), goal.theta(), start_velocity, free_goal_vel); +} + +} // end namespace diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/homotopy_class_planner.cpp b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/homotopy_class_planner.cpp new file mode 100644 index 0000000..6fbf995 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/homotopy_class_planner.cpp @@ -0,0 +1,854 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#include "teb_local_planner/homotopy_class_planner.h" + +#include + +namespace teb_local_planner +{ + +HomotopyClassPlanner::HomotopyClassPlanner() : cfg_(NULL), obstacles_(NULL), via_points_(NULL), robot_model_(new PointRobotFootprint()), initial_plan_(NULL), initialized_(false) +{ +} + +HomotopyClassPlanner::HomotopyClassPlanner(nav2_util::LifecycleNode::SharedPtr node, const TebConfig& cfg, ObstContainer* obstacles, + TebVisualizationPtr visual, const ViaPointContainer* via_points) : initial_plan_(NULL) +{ + initialize(node, cfg, obstacles, visual, via_points); +} + +HomotopyClassPlanner::~HomotopyClassPlanner() +{ +} + +void HomotopyClassPlanner::initialize(nav2_util::LifecycleNode::SharedPtr node, const TebConfig& cfg, ObstContainer* obstacles, + TebVisualizationPtr visual, const ViaPointContainer* via_points) +{ + node_ = node; + cfg_ = &cfg; + obstacles_ = obstacles; + via_points_ = via_points; + + if (cfg_->hcp.simple_exploration) + graph_search_ = std::shared_ptr(new lrKeyPointGraph(*cfg_, this)); + else + graph_search_ = std::shared_ptr(new ProbRoadmapGraph(*cfg_, this)); + + std::random_device rd; + random_.seed(rd()); + + // This is needed to prevent different time sources error + last_eq_class_switching_time_ = rclcpp::Time(0, 0, node->get_clock()->get_clock_type()); + + initialized_ = true; + + setVisualization(visual); +} + +void HomotopyClassPlanner::setVisualization(const TebVisualizationPtr& visualization) +{ + visualization_ = visualization; +} + + + +bool HomotopyClassPlanner::plan(const std::vector& initial_plan, const geometry_msgs::msg::Twist* start_vel, bool free_goal_vel) +{ + TEB_ASSERT_MSG(initialized_, "Call initialize() first."); + + // store initial plan for further initializations (must be valid for the lifetime of this object or clearPlanner() is called!) + initial_plan_ = &initial_plan; + + PoseSE2 start(initial_plan.front().pose); + PoseSE2 goal(initial_plan.back().pose); + + return plan(start, goal, start_vel, free_goal_vel); +} + +// tf2 doesn't have tf::Pose +//bool HomotopyClassPlanner::plan(const tf::Pose& start, const tf::Pose& goal, const geometry_msgs::msg::Twist* start_vel, bool free_goal_vel) +//{ +// TEB_ASSERT_MSG(initialized_, "Call initialize() first."); +// PoseSE2 start_pose(start); +// PoseSE2 goal_pose(goal); +// return plan(start_pose, goal_pose, start_vel, free_goal_vel); +//} + +bool HomotopyClassPlanner::plan(const PoseSE2& start, const PoseSE2& goal, const geometry_msgs::msg::Twist* start_vel, bool free_goal_vel) +{ + TEB_ASSERT_MSG(initialized_, "Call initialize() first."); + + // Update old TEBs with new start, goal and velocity + updateAllTEBs(&start, &goal, start_vel); + + // Init new TEBs based on newly explored homotopy classes + exploreEquivalenceClassesAndInitTebs(start, goal, cfg_->obstacles.min_obstacle_dist, start_vel, free_goal_vel); + // update via-points if activated + updateReferenceTrajectoryViaPoints(cfg_->hcp.viapoints_all_candidates); + // Optimize all trajectories in alternative homotopy classes + optimizeAllTEBs(cfg_->optim.no_inner_iterations, cfg_->optim.no_outer_iterations); + // Select which candidate (based on alternative homotopy classes) should be used + selectBestTeb(); + + initial_plan_ = nullptr; // clear pointer to any previous initial plan (any previous plan is useless regarding the h-signature); + return true; +} + +bool HomotopyClassPlanner::getVelocityCommand(double& vx, double& vy, double& omega, int look_ahead_poses) const +{ + TebOptimalPlannerConstPtr best_teb = bestTeb(); + if (!best_teb) + { + vx = 0; + vy = 0; + omega = 0; + return false; + } + + return best_teb->getVelocityCommand(vx, vy, omega, look_ahead_poses); +} + + + + +void HomotopyClassPlanner::visualize() +{ + if (visualization_) + { + // Visualize graph + if (cfg_->hcp.visualize_hc_graph && graph_search_) + visualization_->publishGraph(graph_search_->graph_); + + // Visualize active tebs as marker + visualization_->publishTebContainer(tebs_); + + // Visualize best teb and feedback message if desired + TebOptimalPlannerConstPtr best_teb = bestTeb(); + if (best_teb) + { + visualization_->publishLocalPlanAndPoses(best_teb->teb()); + + if (best_teb->teb().sizePoses() > 0) //TODO maybe store current pose (start) within plan method as class field. + visualization_->publishRobotFootprintModel(best_teb->teb().Pose(0), *cfg_->robot_model); + + // feedback message + if (cfg_->trajectory.publish_feedback) + { + int best_idx = bestTebIdx(); + if (best_idx>=0) + visualization_->publishFeedbackMessage(tebs_, (unsigned int) best_idx, *obstacles_); + } + } + } + else RCLCPP_DEBUG(rclcpp::get_logger("teb_local_planner"), "Ignoring HomotopyClassPlanner::visualize() call, since no visualization class was instantiated before."); +} + + + +bool HomotopyClassPlanner::hasEquivalenceClass(const EquivalenceClassPtr& eq_class) const +{ + // iterate existing h-signatures and check if there is an existing H-Signature similar the candidate + for (const std::pair& eqrel : equivalence_classes_) + { + if (eq_class->isEqual(*eqrel.first)) + return true; // Found! Homotopy class already exists, therefore nothing added + } + return false; +} + +bool HomotopyClassPlanner::addEquivalenceClassIfNew(const EquivalenceClassPtr& eq_class, bool lock) +{ + if (!eq_class) + return false; + + if (!eq_class->isValid()) + { + RCLCPP_WARN(rclcpp::get_logger("teb_local_planner"), "HomotopyClassPlanner: Ignoring invalid H-signature"); + return false; + } + + if (hasEquivalenceClass(eq_class)) + { + // Allow up to configured number of Tebs that are in the same homotopy + // class as the current (best) Teb to avoid being stuck in a local minimum + if (!isInBestTebClass(eq_class) || numTebsInBestTebClass() >= cfg_->hcp.max_number_plans_in_current_class) + return false; + } + + // Homotopy class not found -> Add to class-list, return that the h-signature is new + equivalence_classes_.push_back(std::make_pair(eq_class,lock)); + return true; +} + + +void HomotopyClassPlanner::renewAndAnalyzeOldTebs(bool delete_detours) +{ + // clear old h-signatures (since they could be changed due to new obstacle positions. + equivalence_classes_.clear(); + + // Adding the equivalence class of the latest best_teb_ first + TebOptPlannerContainer::iterator it_best_teb = best_teb_ ? std::find(tebs_.begin(), tebs_.end(), best_teb_) : tebs_.end(); + bool has_best_teb = it_best_teb != tebs_.end(); + if (has_best_teb) + { + std::iter_swap(tebs_.begin(), it_best_teb); // Putting the last best teb at the beginning of the container + best_teb_eq_class_ = calculateEquivalenceClass(best_teb_->teb().poses().begin(), + best_teb_->teb().poses().end(), getCplxFromVertexPosePtr , obstacles_, + best_teb_->teb().timediffs().begin(), best_teb_->teb().timediffs().end()); + addEquivalenceClassIfNew(best_teb_eq_class_); + } + // Collect h-signatures for all existing TEBs and store them together with the corresponding iterator / pointer: +// typedef std::list< std::pair > > TebCandidateType; +// TebCandidateType teb_candidates; + + // get new homotopy classes and delete multiple TEBs per homotopy class. Skips the best teb if available (added before). + TebOptPlannerContainer::iterator it_teb = has_best_teb ? std::next(tebs_.begin(), 1) : tebs_.begin(); + while(it_teb != tebs_.end()) + { + // calculate equivalence class for the current candidate + EquivalenceClassPtr equivalence_class = calculateEquivalenceClass(it_teb->get()->teb().poses().begin(), it_teb->get()->teb().poses().end(), getCplxFromVertexPosePtr , obstacles_, + it_teb->get()->teb().timediffs().begin(), it_teb->get()->teb().timediffs().end()); + +// teb_candidates.push_back(std::make_pair(it_teb,H)); + + // WORKAROUND until the commented code below works + // Here we do not compare cost values. Just first come first serve... + bool new_flag = addEquivalenceClassIfNew(equivalence_class); + if (!new_flag) + { + it_teb = tebs_.erase(it_teb); + continue; + } + + ++it_teb; + } + if(delete_detours) + deletePlansDetouringBackwards(cfg_->hcp.detours_orientation_tolerance, cfg_->hcp.length_start_orientation_vector); + + // Find multiple candidates and delete the one with higher cost + // TODO: this code needs to be adpated. Erasing tebs from the teb container_ could make iteratores stored in the candidate list invalid! +// TebCandidateType::reverse_iterator cand_i = teb_candidates.rbegin(); +// int test_idx = 0; +// while (cand_i != teb_candidates.rend()) +// { +// +// TebCandidateType::reverse_iterator cand_j = std::find_if(boost::next(cand_i),teb_candidates.rend(), boost::bind(compareH,_1,cand_i->second)); +// if (cand_j != teb_candidates.rend() && cand_j != cand_i) +// { +// TebOptimalPlannerPtr pt1 = *(cand_j->first); +// TebOptimalPlannerPtr pt2 = *(cand_i->first); +// assert(pt1); +// assert(pt2); +// if ( cand_j->first->get()->getCurrentCost().sum() > cand_i->first->get()->getCurrentCost().sum() ) +// { +// // found one that has higher cost, therefore erase cand_j +// tebs_.erase(cand_j->first); +// teb_candidates.erase(cand_j); +// } +// else // otherwise erase cand_i +// { +// tebs_.erase(cand_i->first); +// cand_i = teb_candidates.erase(cand_i); +// } +// } +// else +// { +// ROS_WARN_STREAM("increase cand_i"); +// ++cand_i; +// } +// } + + // now add the h-signatures to the internal lookup-table (but only if there is no existing duplicate) +// for (TebCandidateType::iterator cand=teb_candidates.begin(); cand!=teb_candidates.end(); ++cand) +// { +// bool new_flag = addNewHSignatureIfNew(cand->second, cfg_->hcp.h_signature_threshold); +// if (!new_flag) +// { +// // ROS_ERROR_STREAM("getAndFilterHomotopyClassesTEB() - This schould not be happen."); +// tebs_.erase(cand->first); +// } +// } + +} + +void HomotopyClassPlanner::updateReferenceTrajectoryViaPoints(bool all_trajectories) +{ + if ( (!all_trajectories && !initial_plan_) || !via_points_ || via_points_->empty() || cfg_->optim.weight_viapoint <= 0) + return; + + if(equivalence_classes_.size() < tebs_.size()) + { + RCLCPP_ERROR(rclcpp::get_logger("teb_local_planner"), "HomotopyClassPlanner::updateReferenceTrajectoryWithViaPoints(): Number of h-signatures does not match number of trajectories."); + return; + } + + if (all_trajectories) + { + // enable via-points for all tebs + for (std::size_t i=0; i < equivalence_classes_.size(); ++i) + { + tebs_[i]->setViaPoints(via_points_); + } + } + else + { + // enable via-points for teb in the same hommotopy class as the initial_plan and deactivate it for all other ones + for (std::size_t i=0; i < equivalence_classes_.size(); ++i) + { + if(initial_plan_eq_class_->isEqual(*equivalence_classes_[i].first)) + tebs_[i]->setViaPoints(via_points_); + else + tebs_[i]->setViaPoints(NULL); + } + } +} + + +void HomotopyClassPlanner::exploreEquivalenceClassesAndInitTebs(const PoseSE2& start, const PoseSE2& goal, double dist_to_obst, const geometry_msgs::msg::Twist* start_vel, bool free_goal_vel) +{ + // first process old trajectories + renewAndAnalyzeOldTebs(cfg_->hcp.delete_detours_backwards); + randomlyDropTebs(); + + // inject initial plan if available and not yet captured + if (initial_plan_) + { + initial_plan_teb_ = addAndInitNewTeb(*initial_plan_, start_vel, free_goal_vel); + } + else + { + initial_plan_teb_.reset(); + initial_plan_teb_ = getInitialPlanTEB(); // this method searches for initial_plan_eq_class_ in the teb container (-> if !initial_plan_teb_) + } + + // now explore new homotopy classes and initialize tebs if new ones are found. The appropriate createGraph method is chosen via polymorphism. + graph_search_->createGraph(start,goal,dist_to_obst,cfg_->hcp.obstacle_heading_threshold, start_vel, free_goal_vel); +} + + +TebOptimalPlannerPtr HomotopyClassPlanner::addAndInitNewTeb(const PoseSE2& start, const PoseSE2& goal, const geometry_msgs::msg::Twist* start_velocity, bool free_goal_vel) +{ + if(tebs_.size() >= cfg_->hcp.max_number_classes) + return TebOptimalPlannerPtr(); + TebOptimalPlannerPtr candidate = TebOptimalPlannerPtr( new TebOptimalPlanner(node_, *cfg_, obstacles_, visualization_)); + + candidate->teb().initTrajectoryToGoal(start, goal, 0, cfg_->robot.max_vel_x, cfg_->trajectory.min_samples, cfg_->trajectory.allow_init_with_backwards_motion); + + if (start_velocity) + candidate->setVelocityStart(*start_velocity); + + EquivalenceClassPtr H = calculateEquivalenceClass(candidate->teb().poses().begin(), candidate->teb().poses().end(), getCplxFromVertexPosePtr, obstacles_, + candidate->teb().timediffs().begin(), candidate->teb().timediffs().end()); + + if (free_goal_vel) + candidate->setVelocityGoalFree(); + + if(addEquivalenceClassIfNew(H)) + { + tebs_.push_back(candidate); + return tebs_.back(); + } + + // If the candidate constitutes no new equivalence class, return a null pointer + return TebOptimalPlannerPtr(); +} + + +bool HomotopyClassPlanner::isInBestTebClass(const EquivalenceClassPtr& eq_class) const +{ + bool answer = false; + if (best_teb_eq_class_) + answer = best_teb_eq_class_->isEqual(*eq_class); + return answer; +} + +int HomotopyClassPlanner::numTebsInClass(const EquivalenceClassPtr& eq_class) const +{ + int count = 0; + for (const std::pair& eqrel : equivalence_classes_) + { + if (eq_class->isEqual(*eqrel.first)) + ++count; + } + return count; +} + +int HomotopyClassPlanner::numTebsInBestTebClass() const +{ + int count = 0; + if (best_teb_eq_class_) + count = numTebsInClass(best_teb_eq_class_); + return count; +} + +TebOptimalPlannerPtr HomotopyClassPlanner::addAndInitNewTeb(const std::vector& initial_plan, const geometry_msgs::msg::Twist* start_velocity, bool free_goal_vel) +{ + if(tebs_.size() >= cfg_->hcp.max_number_classes) + return TebOptimalPlannerPtr(); + TebOptimalPlannerPtr candidate = TebOptimalPlannerPtr( new TebOptimalPlanner(node_, *cfg_, obstacles_, visualization_)); + + candidate->teb().initTrajectoryToGoal(initial_plan, cfg_->robot.max_vel_x, cfg_->robot.max_vel_theta, + cfg_->trajectory.global_plan_overwrite_orientation, cfg_->trajectory.min_samples, cfg_->trajectory.allow_init_with_backwards_motion); + + if (start_velocity) + candidate->setVelocityStart(*start_velocity); + + if (free_goal_vel) + candidate->setVelocityGoalFree(); + + // store the h signature of the initial plan to enable searching a matching teb later. + initial_plan_eq_class_ = calculateEquivalenceClass(candidate->teb().poses().begin(), candidate->teb().poses().end(), getCplxFromVertexPosePtr, obstacles_, + candidate->teb().timediffs().begin(), candidate->teb().timediffs().end()); + + if(addEquivalenceClassIfNew(initial_plan_eq_class_, true)) // also prevent candidate from deletion + { + tebs_.push_back(candidate); + return tebs_.back(); + } + + // If the candidate constitutes no new equivalence class, return a null pointer + return TebOptimalPlannerPtr(); +} + +void HomotopyClassPlanner::updateAllTEBs(const PoseSE2* start, const PoseSE2* goal, const geometry_msgs::msg::Twist* start_velocity) +{ + // If new goal is too far away, clear all existing trajectories to let them reinitialize later. + // Since all Tebs are sharing the same fixed goal pose, just take the first candidate: + if (!tebs_.empty() + && ((goal->position() - tebs_.front()->teb().BackPose().position()).norm() >= cfg_->trajectory.force_reinit_new_goal_dist + || fabs(g2o::normalize_theta(goal->theta() - tebs_.front()->teb().BackPose().theta())) >= cfg_->trajectory.force_reinit_new_goal_angular)) + { + RCLCPP_DEBUG(rclcpp::get_logger("teb_local_planner"), "New goal: distance to existing goal is higher than the specified threshold. Reinitalizing trajectories."); + tebs_.clear(); + equivalence_classes_.clear(); + } + + // hot-start from previous solutions + for (TebOptPlannerContainer::iterator it_teb = tebs_.begin(); it_teb != tebs_.end(); ++it_teb) + { + it_teb->get()->teb().updateAndPruneTEB(*start, *goal); + if (start_velocity) + it_teb->get()->setVelocityStart(*start_velocity); + } +} + + +void HomotopyClassPlanner::optimizeAllTEBs(int iter_innerloop, int iter_outerloop) +{ + // optimize TEBs in parallel since they are independend of each other + if (cfg_->hcp.enable_multithreading) + { + std::vector teb_threads; + + for (TebOptPlannerContainer::iterator it_teb = tebs_.begin(); it_teb != tebs_.end(); ++it_teb) + { + auto functor = [&, it_teb]() { + it_teb->get()->optimizeTEB(iter_innerloop, iter_outerloop, + true, cfg_->hcp.selection_obst_cost_scale, cfg_->hcp.selection_viapoint_cost_scale, + cfg_->hcp.selection_alternative_time_cost); + }; + + teb_threads.emplace_back(functor); + } + + for(auto & thread : teb_threads) { + if(thread.joinable()) { + thread.join(); + } + } + } + else + { + for (TebOptPlannerContainer::iterator it_teb = tebs_.begin(); it_teb != tebs_.end(); ++it_teb) + { + it_teb->get()->optimizeTEB(iter_innerloop,iter_outerloop, true, cfg_->hcp.selection_obst_cost_scale, + cfg_->hcp.selection_viapoint_cost_scale, cfg_->hcp.selection_alternative_time_cost); // compute cost as well inside optimizeTEB (last argument = true) + } + } +} + +TebOptimalPlannerPtr HomotopyClassPlanner::getInitialPlanTEB() +{ + // first check stored teb object + if (initial_plan_teb_) + { + // check if the teb is still part of the teb container + if ( std::find(tebs_.begin(), tebs_.end(), initial_plan_teb_ ) != tebs_.end() ) + return initial_plan_teb_; + else + { + initial_plan_teb_.reset(); // reset pointer for next call + RCLCPP_DEBUG(rclcpp::get_logger("teb_local_planner"), "initial teb not found, trying to find a match according to the cached equivalence class"); + } + } + + // reset the locked state for equivalence classes // TODO: this might be adapted if not only the plan containing the initial plan is locked! + for (int i=0; iisValid()) + { + if (equivalence_classes_.size() == tebs_.size()) + { + for (int i=0; iisEqual(*initial_plan_eq_class_)) + { + equivalence_classes_[i].second = true; + return tebs_[i]; + } + } + } + else + RCLCPP_ERROR(rclcpp::get_logger("teb_local_planner"), + "HomotopyClassPlanner::getInitialPlanTEB(): number of equivalence classes (%lu) and number of trajectories (%lu) does not match.", equivalence_classes_.size(), tebs_.size()); + } + else + RCLCPP_DEBUG(rclcpp::get_logger("teb_local_planner"), "HomotopyClassPlanner::getInitialPlanTEB(): initial TEB not found in the set of available trajectories."); + + return TebOptimalPlannerPtr(); +} + +void HomotopyClassPlanner::randomlyDropTebs() +{ + if (cfg_->hcp.selection_dropping_probability == 0.0) + { + return; + } + // interate both vectors in parallel + auto it_eqrel = equivalence_classes_.begin(); + auto it_teb = tebs_.begin(); + while (it_teb != tebs_.end() && it_eqrel != equivalence_classes_.end()) + { + if (it_teb->get() != best_teb_.get() // Always preserve the "best" teb + && (random_() <= cfg_->hcp.selection_dropping_probability * random_.max())) + { + it_teb = tebs_.erase(it_teb); + it_eqrel = equivalence_classes_.erase(it_eqrel); + } + else + { + ++it_teb; + ++it_eqrel; + } + } +} + +TebOptimalPlannerPtr HomotopyClassPlanner::selectBestTeb() +{ + double min_cost = std::numeric_limits::max(); // maximum cost + double min_cost_last_best = std::numeric_limits::max(); + double min_cost_initial_plan_teb = std::numeric_limits::max(); + TebOptimalPlannerPtr initial_plan_teb = getInitialPlanTEB(); + + // check if last best_teb is still a valid candidate + if (best_teb_ && std::find(tebs_.begin(), tebs_.end(), best_teb_) != tebs_.end()) + { + // get cost of this candidate + min_cost_last_best = best_teb_->getCurrentCost() * cfg_->hcp.selection_cost_hysteresis; // small hysteresis + last_best_teb_ = best_teb_; + } + else + { + last_best_teb_.reset(); + } + + if (initial_plan_teb) // the validity was already checked in getInitialPlanTEB() + { + // get cost of this candidate + min_cost_initial_plan_teb = initial_plan_teb->getCurrentCost() * cfg_->hcp.selection_prefer_initial_plan; // small hysteresis + } + + + best_teb_.reset(); // reset pointer + + for (TebOptPlannerContainer::iterator it_teb = tebs_.begin(); it_teb != tebs_.end(); ++it_teb) + { + // check if the related TEB leaves the local costmap region +// if (tebs_.size()>1 && !(*it_teb)->teb().isTrajectoryInsideRegion(20, -1, 1)) +// { +// ROS_INFO("HomotopyClassPlanner::selectBestTeb(): skipping trajectories that are not inside the local costmap"); +// continue; +// } + + double teb_cost; + + if (*it_teb == last_best_teb_) + teb_cost = min_cost_last_best; // skip already known cost value of the last best_teb + else if (*it_teb == initial_plan_teb) + teb_cost = min_cost_initial_plan_teb; + else + teb_cost = it_teb->get()->getCurrentCost(); + + if (teb_cost < min_cost) + { + // check if this candidate is currently not selected + best_teb_ = *it_teb; + min_cost = teb_cost; + } + } + + + // in case we haven't found any teb due to some previous checks, investigate list again +// if (!best_teb_ && !tebs_.empty()) +// { +// RCLCPP_DEBUG(rclcpp::get_logger("teb_local_planner"), "all " << tebs_.size() << " tebs rejected previously"); +// if (tebs_.size()==1) +// best_teb_ = tebs_.front(); +// else // if multiple TEBs are available: +// { +// // try to use the one that relates to the initial plan +// TebOptimalPlannerPtr initial_plan_teb = getInitialPlanTEB(); +// if (initial_plan_teb) +// best_teb_ = initial_plan_teb; +// else +// { +// // now compute the cost for the rest (we haven't computed it before) +// for (TebOptPlannerContainer::iterator it_teb = tebs_.begin(); it_teb != tebs_.end(); ++it_teb) +// { +// double teb_cost = it_teb->get()->getCurrentCost(); +// if (teb_cost < min_cost) +// { +// // check if this candidate is currently not selected +// best_teb_ = *it_teb; +// min_cost = teb_cost; +// } +// } +// } +// } +// } + + // check if we are allowed to change + if (last_best_teb_ && best_teb_ != last_best_teb_) + { + rclcpp::Time now = node_->now(); + if ((now - last_eq_class_switching_time_).seconds() > cfg_->hcp.switching_blocking_period) + { + last_eq_class_switching_time_ = now; + } + else + { + RCLCPP_DEBUG(rclcpp::get_logger("teb_local_planner"), + "HomotopyClassPlanner::selectBestTeb(): Switching equivalence classes blocked (check parameter switching_blocking_period."); + // block switching, so revert best_teb_ + best_teb_ = last_best_teb_; + } + + } + + + return best_teb_; +} + +int HomotopyClassPlanner::bestTebIdx() const +{ + if (tebs_.size() == 1) + return 0; + + if (!best_teb_) + return -1; + + int idx = 0; + for (TebOptPlannerContainer::const_iterator it_teb = tebs_.begin(); it_teb != tebs_.end(); ++it_teb, ++idx) + { + if (*it_teb == best_teb_) + return idx; + } + return -1; +} + +bool HomotopyClassPlanner::isTrajectoryFeasible(dwb_critics::ObstacleFootprintCritic* costmap_model, const std::vector& footprint_spec, + double inscribed_radius, double circumscribed_radius, int look_ahead_idx, double feasibility_check_lookahead_distance) +{ + bool feasible = false; + while(rclcpp::ok() && !feasible && tebs_.size() > 0) + { + TebOptimalPlannerPtr best = findBestTeb(); + if (!best) + { + RCLCPP_ERROR(rclcpp::get_logger("teb_local_planner"), "Couldn't retrieve the best plan"); + return false; + } + feasible = best->isTrajectoryFeasible(costmap_model, footprint_spec, inscribed_radius, circumscribed_radius, look_ahead_idx, feasibility_check_lookahead_distance); + if(!feasible) + { + removeTeb(best); + if(last_best_teb_ && (last_best_teb_ == best)) // Same plan as before. + return feasible; // Not failing could result in oscillations between trajectories. + } + } + return feasible; +} + +TebOptimalPlannerPtr HomotopyClassPlanner::findBestTeb() +{ + if(tebs_.empty()) + return TebOptimalPlannerPtr(); + if (!best_teb_ || std::find(tebs_.begin(), tebs_.end(), best_teb_) == tebs_.end()) + best_teb_ = selectBestTeb(); + return best_teb_; +} + +TebOptPlannerContainer::iterator HomotopyClassPlanner::removeTeb(TebOptimalPlannerPtr& teb) +{ + TebOptPlannerContainer::iterator return_iterator = tebs_.end(); + if(equivalence_classes_.size() != tebs_.size()) + { + RCLCPP_ERROR(rclcpp::get_logger("teb_local_planner"), "removeTeb: size of eq classes != size of tebs"); + return return_iterator; + } + auto it_eq_classes = equivalence_classes_.begin(); + for(auto it = tebs_.begin(); it != tebs_.end(); ++it) + { + if(*it == teb) + { + return_iterator = tebs_.erase(it); + equivalence_classes_.erase(it_eq_classes); + break; + } + ++it_eq_classes; + } + return return_iterator; +} + +void HomotopyClassPlanner::setPreferredTurningDir(RotType dir) +{ + // set preferred turning dir for all TEBs + for (TebOptPlannerContainer::const_iterator it_teb = tebs_.begin(); it_teb != tebs_.end(); ++it_teb) + { + (*it_teb)->setPreferredTurningDir(dir); + } +} + +bool HomotopyClassPlanner::hasDiverged() const +{ + // Early return if there is no best trajectory initialized + if (!best_teb_) + return false; + + return best_teb_->hasDiverged(); +} + +void HomotopyClassPlanner::computeCurrentCost(std::vector& cost, double obst_cost_scale, double viapoint_cost_scale, bool alternative_time_cost) +{ + for (TebOptPlannerContainer::iterator it_teb = tebs_.begin(); it_teb != tebs_.end(); ++it_teb) + { + it_teb->get()->computeCurrentCost(cost, obst_cost_scale, viapoint_cost_scale, alternative_time_cost); + } +} + +void HomotopyClassPlanner::deletePlansDetouringBackwards(const double orient_threshold, + const double len_orientation_vector) +{ + if (tebs_.size() < 2 || !best_teb_ || std::find(tebs_.begin(), tebs_.end(), best_teb_) == tebs_.end() || + best_teb_->teb().sizePoses() < 2) + { + return; // A moving direction wasn't chosen yet + } + double current_movement_orientation; + double best_plan_duration = std::max(best_teb_->teb().getSumOfAllTimeDiffs(), 1.0); + if(!computeStartOrientation(best_teb_, len_orientation_vector, current_movement_orientation)) + return; // The plan is shorter than len_orientation_vector + for(auto it_teb = tebs_.begin(); it_teb != tebs_.end();) + { + if(*it_teb == best_teb_) // The current plan should not be considered a detour + { + ++it_teb; + continue; + } + if((*it_teb)->teb().sizePoses() < 2) + { + RCLCPP_DEBUG(rclcpp::get_logger("teb_local_planner"), "Discarding a plan with less than 2 poses"); + it_teb = removeTeb(*it_teb); + continue; + } + double plan_orientation; + if(!computeStartOrientation(*it_teb, len_orientation_vector, plan_orientation)) + { + RCLCPP_DEBUG(rclcpp::get_logger("teb_local_planner"), "Failed to compute the start orientation for one of the tebs, likely close to the target"); + it_teb = removeTeb(*it_teb); + continue; + } + if(fabs(g2o::normalize_theta(plan_orientation - current_movement_orientation)) > orient_threshold) + { + it_teb = removeTeb(*it_teb); // Plan detouring backwards + continue; + } + if(!it_teb->get()->isOptimized()) + { + RCLCPP_DEBUG(rclcpp::get_logger("teb_local_planner"), "Removing a teb because it's not optimized"); + it_teb = removeTeb(*it_teb); // Deletes tebs that cannot be optimized (last optim call failed) + continue; + } + if(it_teb->get()->teb().getSumOfAllTimeDiffs() / best_plan_duration > cfg_->hcp.max_ratio_detours_duration_best_duration) + { + RCLCPP_DEBUG(rclcpp::get_logger("teb_local_planner"), "Removing a teb because it's duration is much longer than that of the best teb"); + it_teb = removeTeb(*it_teb); + continue; + } + ++it_teb; + } +} + +bool HomotopyClassPlanner::computeStartOrientation(const TebOptimalPlannerPtr plan, const double len_orientation_vector, + double& orientation) +{ + VertexPose start_pose = plan->teb().Pose(0); + bool second_pose_found = false; + Eigen::Vector2d start_vector; + for(auto& pose : plan->teb().poses()) + { + start_vector = start_pose.position() - pose->position(); + if(start_vector.norm() > len_orientation_vector) + { + second_pose_found = true; + break; + } + } + if(!second_pose_found) // The current plan is too short to make assumptions on the start orientation + return false; + orientation = std::atan2(start_vector[1], start_vector[0]); + return true; +} + + +} // end namespace diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/obstacles.cpp b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/obstacles.cpp new file mode 100644 index 0000000..95253e3 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/obstacles.cpp @@ -0,0 +1,216 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#include "teb_local_planner/obstacles.h" +// #include "teb_local_planner/misc.h" +#include +#include + +namespace teb_local_planner +{ + + +void PolygonObstacle::fixPolygonClosure() +{ + if (vertices_.size()<2) + return; + + if (vertices_.front().isApprox(vertices_.back())) + vertices_.pop_back(); +} + +void PolygonObstacle::calcCentroid() +{ + if (vertices_.empty()) + { + centroid_.setConstant(NAN); + RCLCPP_WARN(rclcpp::get_logger("teb_local_planner"), + "PolygonObstacle::calcCentroid(): number of vertices is empty. the resulting centroid is a vector of NANs."); + return; + } + + // if polygon is a point + if (noVertices()==1) + { + centroid_ = vertices_.front(); + return; + } + + // if polygon is a line: + if (noVertices()==2) + { + centroid_ = 0.5*(vertices_.front() + vertices_.back()); + return; + } + + // otherwise: + + centroid_.setZero(); + + // calculate centroid (see wikipedia http://de.wikipedia.org/wiki/Geometrischer_Schwerpunkt#Polygon) + double A = 0; // A = 0.5 * sum_0_n-1 (x_i * y_{i+1} - x_{i+1} * y_i) + for (int i=0; i < noVertices()-1; ++i) + { + A += vertices_.at(i).coeffRef(0) * vertices_.at(i+1).coeffRef(1) - vertices_.at(i+1).coeffRef(0) * vertices_.at(i).coeffRef(1); + } + A += vertices_.at(noVertices()-1).coeffRef(0) * vertices_.at(0).coeffRef(1) - vertices_.at(0).coeffRef(0) * vertices_.at(noVertices()-1).coeffRef(1); + A *= 0.5; + + if (A!=0) + { + for (int i=0; i < noVertices()-1; ++i) + { + double aux = (vertices_.at(i).coeffRef(0) * vertices_.at(i+1).coeffRef(1) - vertices_.at(i+1).coeffRef(0) * vertices_.at(i).coeffRef(1)); + centroid_ += ( vertices_.at(i) + vertices_.at(i+1) )*aux; + } + double aux = (vertices_.at(noVertices()-1).coeffRef(0) * vertices_.at(0).coeffRef(1) - vertices_.at(0).coeffRef(0) * vertices_.at(noVertices()-1).coeffRef(1)); + centroid_ += ( vertices_.at(noVertices()-1) + vertices_.at(0) )*aux; + centroid_ /= (6*A); + } + else // A == 0 -> all points are placed on a 'perfect' line + { + // seach for the two outer points of the line with the maximum distance inbetween + int i_cand = 0; + int j_cand = 0; + double max_dist = 0; + for (int i=0; i< noVertices(); ++i) + { + for (int j=i+1; j< noVertices(); ++j) // start with j=i+1 + { + double dist = (vertices_[j] - vertices_[i]).norm(); + if (dist > max_dist) + { + max_dist = dist; + i_cand = i; + j_cand = j; + } + } + } + // calc centroid of that line + centroid_ = 0.5*(vertices_[i_cand] + vertices_[j_cand]); + } +} + + + +Eigen::Vector2d PolygonObstacle::getClosestPoint(const Eigen::Vector2d& position) const +{ + // the polygon is a point + if (noVertices() == 1) + { + return vertices_.front(); + } + + if (noVertices() > 1) + { + + Eigen::Vector2d new_pt = closest_point_on_line_segment_2d(position, vertices_.at(0), vertices_.at(1)); + + if (noVertices() > 2) // real polygon and not a line + { + double dist = (new_pt-position).norm(); + Eigen::Vector2d closest_pt = new_pt; + + // check each polygon edge + for (int i=1; i +#include + +#include "teb_local_planner/optimal_planner.h" + +#include +// g2o custom edges and vertices for the TEB planner +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +namespace teb_local_planner +{ + +// ============== Implementation =================== + +TebOptimalPlanner::TebOptimalPlanner() : cfg_(nullptr), obstacles_(NULL), via_points_(NULL), cost_(HUGE_VAL), prefer_rotdir_(RotType::none), + initialized_(false), optimized_(false) +{ +} + +TebOptimalPlanner::TebOptimalPlanner(nav2_util::LifecycleNode::SharedPtr node, const TebConfig& cfg, ObstContainer* obstacles, TebVisualizationPtr visual, const ViaPointContainer* via_points) +{ + initialize(node, cfg, obstacles, visual, via_points); +} + +TebOptimalPlanner::~TebOptimalPlanner() +{ + clearGraph(); + // free dynamically allocated memory + //if (optimizer_) + // g2o::Factory::destroy(); + //g2o::OptimizationAlgorithmFactory::destroy(); + //g2o::HyperGraphActionLibrary::destroy(); +} + +void TebOptimalPlanner::initialize(nav2_util::LifecycleNode::SharedPtr node, const TebConfig& cfg, ObstContainer* obstacles, TebVisualizationPtr visual, const ViaPointContainer* via_points) +{ + node_ = node; + // init optimizer (set solver and block ordering settings) + optimizer_ = initOptimizer(); + + cfg_ = &cfg; + obstacles_ = obstacles; + via_points_ = via_points; + cost_ = HUGE_VAL; + prefer_rotdir_ = RotType::none; + + vel_start_.first = true; + vel_start_.second.linear.x = 0; + vel_start_.second.linear.y = 0; + vel_start_.second.angular.z = 0; + + vel_goal_.first = true; + vel_goal_.second.linear.x = 0; + vel_goal_.second.linear.y = 0; + vel_goal_.second.angular.z = 0; + initialized_ = true; + + setVisualization(visual); +} + +void TebOptimalPlanner::setVisualization(const TebVisualizationPtr& visualization) +{ + visualization_ = visualization; +} + +void TebOptimalPlanner::visualize() +{ + if (!visualization_) + return; + + visualization_->publishLocalPlanAndPoses(teb_); + + if (teb_.sizePoses() > 0) + visualization_->publishRobotFootprintModel(teb_.Pose(0), *cfg_->robot_model); + + if (cfg_->trajectory.publish_feedback) + visualization_->publishFeedbackMessage(*this, *obstacles_); + +} + +/* + * registers custom vertices and edges in g2o framework + */ +void TebOptimalPlanner::registerG2OTypes() +{ + g2o::Factory* factory = g2o::Factory::instance(); + factory->registerType("VERTEX_POSE", std::make_shared>()); + factory->registerType("VERTEX_TIMEDIFF", std::make_shared>()); + factory->registerType("EDGE_TIME_OPTIMAL", std::make_shared>()); + factory->registerType("EDGE_SHORTEST_PATH", std::make_shared>()); + factory->registerType("EDGE_VELOCITY", std::make_shared>()); + factory->registerType("EDGE_VELOCITY_HOLONOMIC", std::make_shared>()); + factory->registerType("EDGE_ACCELERATION", std::make_shared>()); + factory->registerType("EDGE_ACCELERATION_START", std::make_shared>()); + factory->registerType("EDGE_ACCELERATION_GOAL", std::make_shared>()); + factory->registerType("EDGE_ACCELERATION_HOLONOMIC", std::make_shared>()); + factory->registerType("EDGE_ACCELERATION_HOLONOMIC_START", std::make_shared>()); + factory->registerType("EDGE_ACCELERATION_HOLONOMIC_GOAL", std::make_shared>()); + factory->registerType("EDGE_KINEMATICS_DIFF_DRIVE", std::make_shared>()); + factory->registerType("EDGE_KINEMATICS_CARLIKE", std::make_shared>()); + factory->registerType("EDGE_OBSTACLE", std::make_shared>()); + factory->registerType("EDGE_INFLATED_OBSTACLE", std::make_shared>()); + factory->registerType("EDGE_DYNAMIC_OBSTACLE", std::make_shared>()); + factory->registerType("EDGE_VIA_POINT", std::make_shared>()); + factory->registerType("EDGE_PREFER_ROTDIR", std::make_shared>()); + return; +} + +/* + * initialize g2o optimizer. Set solver settings here. + * Return: pointer to new SparseOptimizer Object. + */ +std::shared_ptr TebOptimalPlanner::initOptimizer() +{ + // Call register_g2o_types once, even for multiple TebOptimalPlanner instances (thread-safe) + static std::once_flag flag; + std::call_once(flag, [this](){this->registerG2OTypes();}); + + // allocating the optimizer + std::shared_ptr optimizer = std::make_shared(); + auto linearSolver = std::make_unique(); // see typedef in optimization.h + linearSolver->setBlockOrdering(true); + auto blockSolver = std::make_unique(std::move(linearSolver)); + g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(std::move(blockSolver)); + + optimizer->setAlgorithm(solver); + + optimizer->initMultiThreading(); // required for >Eigen 3.1 + + return optimizer; +} + + +bool TebOptimalPlanner::optimizeTEB(int iterations_innerloop, int iterations_outerloop, bool compute_cost_afterwards, + double obst_cost_scale, double viapoint_cost_scale, bool alternative_time_cost) +{ + if (cfg_->optim.optimization_activate==false) + return false; + + bool success = false; + optimized_ = false; + + double weight_multiplier = 1.0; + + // TODO(roesmann): we introduced the non-fast mode with the support of dynamic obstacles + // (which leads to better results in terms of x-y-t homotopy planning). + // however, we have not tested this mode intensively yet, so we keep + // the legacy fast mode as default until we finish our tests. + bool fast_mode = !cfg_->obstacles.include_dynamic_obstacles; + + for(int i=0; itrajectory.teb_autosize) + { + //teb_.autoResize(cfg_->trajectory.dt_ref, cfg_->trajectory.dt_hysteresis, cfg_->trajectory.min_samples, cfg_->trajectory.max_samples); + teb_.autoResize(cfg_->trajectory.dt_ref, cfg_->trajectory.dt_hysteresis, cfg_->trajectory.min_samples, cfg_->trajectory.max_samples, fast_mode); + + } + + success = buildGraph(weight_multiplier); + if (!success) + { + clearGraph(); + return false; + } + success = optimizeGraph(iterations_innerloop, false); + if (!success) + { + clearGraph(); + return false; + } + optimized_ = true; + + if (compute_cost_afterwards && i==iterations_outerloop-1) // compute cost vec only in the last iteration + computeCurrentCost(obst_cost_scale, viapoint_cost_scale, alternative_time_cost); + + clearGraph(); + + weight_multiplier *= cfg_->optim.weight_adapt_factor; + } + + return true; +} + +void TebOptimalPlanner::setVelocityStart(const geometry_msgs::msg::Twist& vel_start) +{ + vel_start_.first = true; + vel_start_.second.linear.x = vel_start.linear.x; + vel_start_.second.linear.y = vel_start.linear.y; + vel_start_.second.angular.z = vel_start.angular.z; +} + +void TebOptimalPlanner::setVelocityGoal(const geometry_msgs::msg::Twist& vel_goal) +{ + vel_goal_.first = true; + vel_goal_.second = vel_goal; +} + +bool TebOptimalPlanner::plan(const std::vector& initial_plan, const geometry_msgs::msg::Twist* start_vel, bool free_goal_vel) +{ + TEB_ASSERT_MSG(initialized_, "Call initialize() first."); + if (!teb_.isInit()) + { + teb_.initTrajectoryToGoal(initial_plan, cfg_->robot.max_vel_x, cfg_->robot.max_vel_theta, cfg_->trajectory.global_plan_overwrite_orientation, + cfg_->trajectory.min_samples, cfg_->trajectory.allow_init_with_backwards_motion); + } + else // warm start + { + PoseSE2 start_(initial_plan.front().pose); + PoseSE2 goal_(initial_plan.back().pose); + if (teb_.sizePoses()>0 + && (goal_.position() - teb_.BackPose().position()).norm() < cfg_->trajectory.force_reinit_new_goal_dist + && fabs(g2o::normalize_theta(goal_.theta() - teb_.BackPose().theta())) < cfg_->trajectory.force_reinit_new_goal_angular) // actual warm start! + teb_.updateAndPruneTEB(start_, goal_, cfg_->trajectory.min_samples); // update TEB + else // goal too far away -> reinit + { + RCLCPP_DEBUG(node_->get_logger(), "New goal: distance to existing goal is higher than the specified threshold. Reinitalizing trajectories."); + teb_.clearTimedElasticBand(); + teb_.initTrajectoryToGoal(initial_plan, cfg_->robot.max_vel_x, cfg_->robot.max_vel_theta, cfg_->trajectory.global_plan_overwrite_orientation, + cfg_->trajectory.min_samples, cfg_->trajectory.allow_init_with_backwards_motion); + } + } + if (start_vel) + setVelocityStart(*start_vel); + if (free_goal_vel) + setVelocityGoalFree(); + else + vel_goal_.first = true; // we just reactivate and use the previously set velocity (should be zero if nothing was modified) + + // now optimize + return optimizeTEB(cfg_->optim.no_inner_iterations, cfg_->optim.no_outer_iterations); +} + + +//bool TebOptimalPlanner::plan(const tf::Pose& start, const tf::Pose& goal, const geometry_msgs::msg::Twist* start_vel, bool free_goal_vel) +//{ +// PoseSE2 start_(start); +// PoseSE2 goal_(goal); +// return plan(start_, goal_, start_vel); +//} + +bool TebOptimalPlanner::plan(const PoseSE2& start, const PoseSE2& goal, const geometry_msgs::msg::Twist* start_vel, bool free_goal_vel) +{ + TEB_ASSERT_MSG(initialized_, "Call initialize() first."); + if (!teb_.isInit()) + { + // init trajectory + teb_.initTrajectoryToGoal(start, goal, 0, cfg_->robot.max_vel_x, cfg_->trajectory.min_samples, cfg_->trajectory.allow_init_with_backwards_motion); // 0 intermediate samples, but dt=1 -> autoResize will add more samples before calling first optimization + } + else // warm start + { + if (teb_.sizePoses() > 0 + && (goal.position() - teb_.BackPose().position()).norm() < cfg_->trajectory.force_reinit_new_goal_dist + && fabs(g2o::normalize_theta(goal.theta() - teb_.BackPose().theta())) < cfg_->trajectory.force_reinit_new_goal_angular) // actual warm start! + teb_.updateAndPruneTEB(start, goal, cfg_->trajectory.min_samples); + else // goal too far away -> reinit + { + RCLCPP_DEBUG(node_->get_logger(), "New goal: distance to existing goal is higher than the specified threshold. Reinitalizing trajectories."); + teb_.clearTimedElasticBand(); + teb_.initTrajectoryToGoal(start, goal, 0, cfg_->robot.max_vel_x, cfg_->trajectory.min_samples, cfg_->trajectory.allow_init_with_backwards_motion); + } + } + if (start_vel) + setVelocityStart(*start_vel); + if (free_goal_vel) + setVelocityGoalFree(); + else + vel_goal_.first = true; // we just reactivate and use the previously set velocity (should be zero if nothing was modified) + + // now optimize + return optimizeTEB(cfg_->optim.no_inner_iterations, cfg_->optim.no_outer_iterations, true); +} + + +bool TebOptimalPlanner::buildGraph(double weight_multiplier) +{ + if (!optimizer_->edges().empty() || !optimizer_->vertices().empty()) + { + RCLCPP_WARN(node_->get_logger(), "Cannot build graph, because it is not empty. Call graphClear()!"); + return false; + } + + optimizer_->setComputeBatchStatistics(cfg_->recovery.divergence_detection_enable); + + // add TEB vertices + AddTEBVertices(); + + // add Edges (local cost functions) + if (cfg_->obstacles.legacy_obstacle_association) + AddEdgesObstaclesLegacy(weight_multiplier); + else + AddEdgesObstacles(weight_multiplier); + + if (cfg_->obstacles.include_dynamic_obstacles) + AddEdgesDynamicObstacles(); + + AddEdgesViaPoints(); + + AddEdgesVelocity(); + + AddEdgesAcceleration(); + + AddEdgesTimeOptimal(); + + AddEdgesShortestPath(); + + if (cfg_->robot.min_turning_radius == 0 || cfg_->optim.weight_kinematics_turning_radius == 0) + AddEdgesKinematicsDiffDrive(); // we have a differential drive robot + else + AddEdgesKinematicsCarlike(); // we have a carlike robot since the turning radius is bounded from below. + + AddEdgesPreferRotDir(); + + if (cfg_->optim.weight_velocity_obstacle_ratio > 0) + AddEdgesVelocityObstacleRatio(); + + return true; +} + +bool TebOptimalPlanner::optimizeGraph(int no_iterations,bool clear_after) +{ + if (cfg_->robot.max_vel_x<0.01) + { + RCLCPP_WARN(node_->get_logger(), "optimizeGraph(): Robot Max Velocity is smaller than 0.01m/s. Optimizing aborted..."); + if (clear_after) clearGraph(); + return false; + } + + if (!teb_.isInit() || teb_.sizePoses() < cfg_->trajectory.min_samples) + { + RCLCPP_WARN(node_->get_logger(), "optimizeGraph(): TEB is empty or has too less elements. Skipping optimization."); + if (clear_after) clearGraph(); + return false; + } + + optimizer_->setVerbose(cfg_->optim.optimization_verbose); + optimizer_->initializeOptimization(); + + int iter = optimizer_->optimize(no_iterations); + + // Save Hessian for visualization + // g2o::OptimizationAlgorithmLevenberg* lm = dynamic_cast (optimizer_->solver()); + // lm->solver()->saveHessian("~/MasterThesis/Matlab/Hessian.txt"); + + if(!iter) + { + RCLCPP_ERROR(node_->get_logger(), "optimizeGraph(): Optimization failed! iter=%i", iter); + return false; + } + + if (clear_after) clearGraph(); + + return true; +} + +void TebOptimalPlanner::clearGraph() +{ + // clear optimizer states + if (optimizer_) + { + // we will delete all edges but keep the vertices. + // before doing so, we will delete the link from the vertices to the edges. + auto& vertices = optimizer_->vertices(); + for(auto& v : vertices) + v.second->edges().clear(); + + optimizer_->vertices().clear(); // necessary, because optimizer->clear deletes pointer-targets (therefore it deletes TEB states!) + optimizer_->clear(); + } +} + + + +void TebOptimalPlanner::AddTEBVertices() +{ + // add vertices to graph + RCLCPP_DEBUG_EXPRESSION(node_->get_logger(), cfg_->optim.optimization_verbose, "Adding TEB vertices ..."); + unsigned int id_counter = 0; // used for vertices ids + obstacles_per_vertex_.resize(teb_.sizePoses()); + auto iter_obstacle = obstacles_per_vertex_.begin(); + for (int i=0; isetId(id_counter++); + optimizer_->addVertex(teb_.PoseVertex(i)); + if (teb_.sizeTimeDiffs()!=0 && isetId(id_counter++); + optimizer_->addVertex(teb_.TimeDiffVertex(i)); + } + iter_obstacle->clear(); + (iter_obstacle++)->reserve(obstacles_->size()); + } +} + + +void TebOptimalPlanner::AddEdgesObstacles(double weight_multiplier) +{ + if (cfg_->optim.weight_obstacle==0 || weight_multiplier==0 || obstacles_==nullptr ) + return; // if weight equals zero skip adding edges! + + + bool inflated = cfg_->obstacles.inflation_dist > cfg_->obstacles.min_obstacle_dist; + + Eigen::Matrix information; + information.fill(cfg_->optim.weight_obstacle * weight_multiplier); + + Eigen::Matrix information_inflated; + information_inflated(0,0) = cfg_->optim.weight_obstacle * weight_multiplier; + information_inflated(1,1) = cfg_->optim.weight_inflation; + information_inflated(0,1) = information_inflated(1,0) = 0; + + auto iter_obstacle = obstacles_per_vertex_.begin(); + + auto create_edge = [inflated, &information, &information_inflated, this] (int index, const Obstacle* obstacle) { + if (inflated) + { + EdgeInflatedObstacle* dist_bandpt_obst = new EdgeInflatedObstacle; + dist_bandpt_obst->setVertex(0,teb_.PoseVertex(index)); + dist_bandpt_obst->setInformation(information_inflated); + dist_bandpt_obst->setParameters(*cfg_, cfg_->robot_model.get(), obstacle); + optimizer_->addEdge(dist_bandpt_obst); + } + else + { + EdgeObstacle* dist_bandpt_obst = new EdgeObstacle; + dist_bandpt_obst->setVertex(0,teb_.PoseVertex(index)); + dist_bandpt_obst->setInformation(information); + dist_bandpt_obst->setParameters(*cfg_, cfg_->robot_model.get(), obstacle); + optimizer_->addEdge(dist_bandpt_obst); + }; + }; + + // iterate all teb points, skipping the last and, if the EdgeVelocityObstacleRatio edges should not be created, the first one too + const int first_vertex = cfg_->optim.weight_velocity_obstacle_ratio == 0 ? 1 : 0; + for (int i = first_vertex; i < teb_.sizePoses() - 1; ++i) + { + double left_min_dist = std::numeric_limits::max(); + double right_min_dist = std::numeric_limits::max(); + ObstaclePtr left_obstacle; + ObstaclePtr right_obstacle; + + const Eigen::Vector2d pose_orient = teb_.Pose(i).orientationUnitVec(); + + // iterate obstacles + for (const ObstaclePtr& obst : *obstacles_) + { + // we handle dynamic obstacles differently below + if(cfg_->obstacles.include_dynamic_obstacles && obst->isDynamic()) + continue; + + // calculate distance to robot model + double dist = cfg_->robot_model->calculateDistance(teb_.Pose(i), obst.get()); + + // force considering obstacle if really close to the current pose + if (dist < cfg_->obstacles.min_obstacle_dist*cfg_->obstacles.obstacle_association_force_inclusion_factor) + { + iter_obstacle->push_back(obst); + continue; + } + // cut-off distance + if (dist > cfg_->obstacles.min_obstacle_dist*cfg_->obstacles.obstacle_association_cutoff_factor) + continue; + + // determine side (left or right) and assign obstacle if closer than the previous one + if (cross2d(pose_orient, obst->getCentroid()) > 0) // left + { + if (dist < left_min_dist) + { + left_min_dist = dist; + left_obstacle = obst; + } + } + else + { + if (dist < right_min_dist) + { + right_min_dist = dist; + right_obstacle = obst; + } + } + } + + if (left_obstacle) + iter_obstacle->push_back(left_obstacle); + if (right_obstacle) + iter_obstacle->push_back(right_obstacle); + + // continue here to ignore obstacles for the first pose, but use them later to create the EdgeVelocityObstacleRatio edges + if (i == 0) + { + ++iter_obstacle; + continue; + } + + // create obstacle edges + for (const ObstaclePtr obst : *iter_obstacle) + create_edge(i, obst.get()); + ++iter_obstacle; + } +} + + +void TebOptimalPlanner::AddEdgesObstaclesLegacy(double weight_multiplier) +{ + if (cfg_->optim.weight_obstacle==0 || weight_multiplier==0 || obstacles_==nullptr) + return; // if weight equals zero skip adding edges! + + Eigen::Matrix information; + information.fill(cfg_->optim.weight_obstacle * weight_multiplier); + + Eigen::Matrix information_inflated; + information_inflated(0,0) = cfg_->optim.weight_obstacle * weight_multiplier; + information_inflated(1,1) = cfg_->optim.weight_inflation; + information_inflated(0,1) = information_inflated(1,0) = 0; + + bool inflated = cfg_->obstacles.inflation_dist > cfg_->obstacles.min_obstacle_dist; + + for (ObstContainer::const_iterator obst = obstacles_->begin(); obst != obstacles_->end(); ++obst) + { + if (cfg_->obstacles.include_dynamic_obstacles && (*obst)->isDynamic()) // we handle dynamic obstacles differently below + continue; + + int index; + + if (cfg_->obstacles.obstacle_poses_affected >= teb_.sizePoses()) + index = teb_.sizePoses() / 2; + else + index = teb_.findClosestTrajectoryPose(*(obst->get())); + + + // check if obstacle is outside index-range between start and goal + if ( (index <= 1) || (index > teb_.sizePoses()-2) ) // start and goal are fixed and findNearestBandpoint finds first or last conf if intersection point is outside the range + continue; + + if (inflated) + { + EdgeInflatedObstacle* dist_bandpt_obst = new EdgeInflatedObstacle; + dist_bandpt_obst->setVertex(0,teb_.PoseVertex(index)); + dist_bandpt_obst->setInformation(information_inflated); + dist_bandpt_obst->setParameters(*cfg_, robot_model_.get(), obst->get()); + optimizer_->addEdge(dist_bandpt_obst); + } + else + { + EdgeObstacle* dist_bandpt_obst = new EdgeObstacle; + dist_bandpt_obst->setVertex(0,teb_.PoseVertex(index)); + dist_bandpt_obst->setInformation(information); + dist_bandpt_obst->setParameters(*cfg_, cfg_->robot_model.get(), obst->get()); + optimizer_->addEdge(dist_bandpt_obst); + } + + for (int neighbourIdx=0; neighbourIdx < floor(cfg_->obstacles.obstacle_poses_affected/2); neighbourIdx++) + { + if (index+neighbourIdx < teb_.sizePoses()) + { + if (inflated) + { + EdgeInflatedObstacle* dist_bandpt_obst_n_r = new EdgeInflatedObstacle; + dist_bandpt_obst_n_r->setVertex(0,teb_.PoseVertex(index+neighbourIdx)); + dist_bandpt_obst_n_r->setInformation(information_inflated); + dist_bandpt_obst_n_r->setParameters(*cfg_, cfg_->robot_model.get(), obst->get()); + optimizer_->addEdge(dist_bandpt_obst_n_r); + } + else + { + EdgeObstacle* dist_bandpt_obst_n_r = new EdgeObstacle; + dist_bandpt_obst_n_r->setVertex(0,teb_.PoseVertex(index+neighbourIdx)); + dist_bandpt_obst_n_r->setInformation(information); + dist_bandpt_obst_n_r->setParameters(*cfg_, robot_model_.get(), obst->get()); + optimizer_->addEdge(dist_bandpt_obst_n_r); + } + } + if ( index - neighbourIdx >= 0) // needs to be casted to int to allow negative values + { + if (inflated) + { + EdgeInflatedObstacle* dist_bandpt_obst_n_l = new EdgeInflatedObstacle; + dist_bandpt_obst_n_l->setVertex(0,teb_.PoseVertex(index-neighbourIdx)); + dist_bandpt_obst_n_l->setInformation(information_inflated); + dist_bandpt_obst_n_l->setParameters(*cfg_, cfg_->robot_model.get(), obst->get()); + optimizer_->addEdge(dist_bandpt_obst_n_l); + } + else + { + EdgeObstacle* dist_bandpt_obst_n_l = new EdgeObstacle; + dist_bandpt_obst_n_l->setVertex(0,teb_.PoseVertex(index-neighbourIdx)); + dist_bandpt_obst_n_l->setInformation(information); + dist_bandpt_obst_n_l->setParameters(*cfg_, cfg_->robot_model.get(), obst->get()); + optimizer_->addEdge(dist_bandpt_obst_n_l); + } + } + } + + } +} + + +void TebOptimalPlanner::AddEdgesDynamicObstacles(double weight_multiplier) +{ + if (cfg_->optim.weight_obstacle==0 || weight_multiplier==0 || obstacles_==NULL ) + return; // if weight equals zero skip adding edges! + + Eigen::Matrix information; + information(0,0) = cfg_->optim.weight_dynamic_obstacle * weight_multiplier; + information(1,1) = cfg_->optim.weight_dynamic_obstacle_inflation; + information(0,1) = information(1,0) = 0; + + for (ObstContainer::const_iterator obst = obstacles_->begin(); obst != obstacles_->end(); ++obst) + { + if (!(*obst)->isDynamic()) + continue; + + // Skip first and last pose, as they are fixed + double time = teb_.TimeDiff(0); + for (int i=1; i < teb_.sizePoses() - 1; ++i) + { + EdgeDynamicObstacle* dynobst_edge = new EdgeDynamicObstacle(time); + dynobst_edge->setVertex(0,teb_.PoseVertex(i)); + dynobst_edge->setInformation(information); + dynobst_edge->setParameters(*cfg_, cfg_->robot_model.get(), obst->get()); + optimizer_->addEdge(dynobst_edge); + time += teb_.TimeDiff(i); // we do not need to check the time diff bounds, since we iterate to "< sizePoses()-1". + } + } +} + +void TebOptimalPlanner::AddEdgesViaPoints() +{ + if (cfg_->optim.weight_viapoint==0 || via_points_==NULL || via_points_->empty() ) + return; // if weight equals zero skip adding edges! + + int start_pose_idx = 0; + + int n = teb_.sizePoses(); + if (n<3) // we do not have any degrees of freedom for reaching via-points + return; + + for (ViaPointContainer::const_iterator vp_it = via_points_->begin(); vp_it != via_points_->end(); ++vp_it) + { + + int index = teb_.findClosestTrajectoryPose(*vp_it, NULL, start_pose_idx); + if (cfg_->trajectory.via_points_ordered) + start_pose_idx = index+2; // skip a point to have a DOF inbetween for further via-points + + // check if point conicides with goal or is located behind it + if ( index > n-2 ) + index = n-2; // set to a pose before the goal, since we can move it away! + // check if point coincides with start or is located before it + if ( index < 1) + { + if (cfg_->trajectory.via_points_ordered) + { + index = 1; // try to connect the via point with the second (and non-fixed) pose. It is likely that autoresize adds new poses inbetween later. + } + else + { + RCLCPP_DEBUG(node_->get_logger(), "TebOptimalPlanner::AddEdgesViaPoints(): skipping a via-point that is close or behind the current robot pose."); + continue; // skip via points really close or behind the current robot pose + } + } + Eigen::Matrix information; + information.fill(cfg_->optim.weight_viapoint); + + EdgeViaPoint* edge_viapoint = new EdgeViaPoint; + edge_viapoint->setVertex(0,teb_.PoseVertex(index)); + edge_viapoint->setInformation(information); + edge_viapoint->setParameters(*cfg_, &(*vp_it)); + optimizer_->addEdge(edge_viapoint); + } +} + +void TebOptimalPlanner::AddEdgesVelocity() +{ + if (cfg_->robot.max_vel_y == 0) // non-holonomic robot + { + if ( cfg_->optim.weight_max_vel_x==0 && cfg_->optim.weight_max_vel_theta==0) + return; // if weight equals zero skip adding edges! + + int n = teb_.sizePoses(); + Eigen::Matrix information; + information(0,0) = cfg_->optim.weight_max_vel_x; + information(1,1) = cfg_->optim.weight_max_vel_theta; + information(0,1) = 0.0; + information(1,0) = 0.0; + + for (int i=0; i < n - 1; ++i) + { + EdgeVelocity* velocity_edge = new EdgeVelocity; + velocity_edge->setVertex(0,teb_.PoseVertex(i)); + velocity_edge->setVertex(1,teb_.PoseVertex(i+1)); + velocity_edge->setVertex(2,teb_.TimeDiffVertex(i)); + velocity_edge->setInformation(information); + velocity_edge->setTebConfig(*cfg_); + optimizer_->addEdge(velocity_edge); + } + } + else // holonomic-robot + { + if ( cfg_->optim.weight_max_vel_x==0 && cfg_->optim.weight_max_vel_y==0 && cfg_->optim.weight_max_vel_theta==0) + return; // if weight equals zero skip adding edges! + + int n = teb_.sizePoses(); + Eigen::Matrix information; + information.fill(0); + information(0,0) = cfg_->optim.weight_max_vel_x; + information(1,1) = cfg_->optim.weight_max_vel_y; + information(2,2) = cfg_->optim.weight_max_vel_theta; + + for (int i=0; i < n - 1; ++i) + { + EdgeVelocityHolonomic* velocity_edge = new EdgeVelocityHolonomic; + velocity_edge->setVertex(0,teb_.PoseVertex(i)); + velocity_edge->setVertex(1,teb_.PoseVertex(i+1)); + velocity_edge->setVertex(2,teb_.TimeDiffVertex(i)); + velocity_edge->setInformation(information); + velocity_edge->setTebConfig(*cfg_); + optimizer_->addEdge(velocity_edge); + } + + } +} + +void TebOptimalPlanner::AddEdgesAcceleration() +{ + if (cfg_->optim.weight_acc_lim_x==0 && cfg_->optim.weight_acc_lim_theta==0) + return; // if weight equals zero skip adding edges! + + int n = teb_.sizePoses(); + + if (cfg_->robot.max_vel_y == 0 || cfg_->robot.acc_lim_y == 0) // non-holonomic robot + { + Eigen::Matrix information; + information.fill(0); + information(0,0) = cfg_->optim.weight_acc_lim_x; + information(1,1) = cfg_->optim.weight_acc_lim_theta; + + // check if an initial velocity should be taken into accound + if (vel_start_.first) + { + EdgeAccelerationStart* acceleration_edge = new EdgeAccelerationStart; + acceleration_edge->setVertex(0,teb_.PoseVertex(0)); + acceleration_edge->setVertex(1,teb_.PoseVertex(1)); + acceleration_edge->setVertex(2,teb_.TimeDiffVertex(0)); + acceleration_edge->setInitialVelocity(vel_start_.second); + acceleration_edge->setInformation(information); + acceleration_edge->setTebConfig(*cfg_); + optimizer_->addEdge(acceleration_edge); + } + + // now add the usual acceleration edge for each tuple of three teb poses + for (int i=0; i < n - 2; ++i) + { + EdgeAcceleration* acceleration_edge = new EdgeAcceleration; + acceleration_edge->setVertex(0,teb_.PoseVertex(i)); + acceleration_edge->setVertex(1,teb_.PoseVertex(i+1)); + acceleration_edge->setVertex(2,teb_.PoseVertex(i+2)); + acceleration_edge->setVertex(3,teb_.TimeDiffVertex(i)); + acceleration_edge->setVertex(4,teb_.TimeDiffVertex(i+1)); + acceleration_edge->setInformation(information); + acceleration_edge->setTebConfig(*cfg_); + optimizer_->addEdge(acceleration_edge); + } + + // check if a goal velocity should be taken into accound + if (vel_goal_.first) + { + EdgeAccelerationGoal* acceleration_edge = new EdgeAccelerationGoal; + acceleration_edge->setVertex(0,teb_.PoseVertex(n-2)); + acceleration_edge->setVertex(1,teb_.PoseVertex(n-1)); + acceleration_edge->setVertex(2,teb_.TimeDiffVertex( teb_.sizeTimeDiffs()-1 )); + acceleration_edge->setGoalVelocity(vel_goal_.second); + acceleration_edge->setInformation(information); + acceleration_edge->setTebConfig(*cfg_); + optimizer_->addEdge(acceleration_edge); + } + } + else // holonomic robot + { + Eigen::Matrix information; + information.fill(0); + information(0,0) = cfg_->optim.weight_acc_lim_x; + information(1,1) = cfg_->optim.weight_acc_lim_y; + information(2,2) = cfg_->optim.weight_acc_lim_theta; + + // check if an initial velocity should be taken into accound + if (vel_start_.first) + { + EdgeAccelerationHolonomicStart* acceleration_edge = new EdgeAccelerationHolonomicStart; + acceleration_edge->setVertex(0,teb_.PoseVertex(0)); + acceleration_edge->setVertex(1,teb_.PoseVertex(1)); + acceleration_edge->setVertex(2,teb_.TimeDiffVertex(0)); + acceleration_edge->setInitialVelocity(vel_start_.second); + acceleration_edge->setInformation(information); + acceleration_edge->setTebConfig(*cfg_); + optimizer_->addEdge(acceleration_edge); + } + + // now add the usual acceleration edge for each tuple of three teb poses + for (int i=0; i < n - 2; ++i) + { + EdgeAccelerationHolonomic* acceleration_edge = new EdgeAccelerationHolonomic; + acceleration_edge->setVertex(0,teb_.PoseVertex(i)); + acceleration_edge->setVertex(1,teb_.PoseVertex(i+1)); + acceleration_edge->setVertex(2,teb_.PoseVertex(i+2)); + acceleration_edge->setVertex(3,teb_.TimeDiffVertex(i)); + acceleration_edge->setVertex(4,teb_.TimeDiffVertex(i+1)); + acceleration_edge->setInformation(information); + acceleration_edge->setTebConfig(*cfg_); + optimizer_->addEdge(acceleration_edge); + } + + // check if a goal velocity should be taken into accound + if (vel_goal_.first) + { + EdgeAccelerationHolonomicGoal* acceleration_edge = new EdgeAccelerationHolonomicGoal; + acceleration_edge->setVertex(0,teb_.PoseVertex(n-2)); + acceleration_edge->setVertex(1,teb_.PoseVertex(n-1)); + acceleration_edge->setVertex(2,teb_.TimeDiffVertex( teb_.sizeTimeDiffs()-1 )); + acceleration_edge->setGoalVelocity(vel_goal_.second); + acceleration_edge->setInformation(information); + acceleration_edge->setTebConfig(*cfg_); + optimizer_->addEdge(acceleration_edge); + } + } +} + + + +void TebOptimalPlanner::AddEdgesTimeOptimal() +{ + if (cfg_->optim.weight_optimaltime==0) + return; // if weight equals zero skip adding edges! + + Eigen::Matrix information; + information.fill(cfg_->optim.weight_optimaltime); + + for (int i=0; i < teb_.sizeTimeDiffs(); ++i) + { + EdgeTimeOptimal* timeoptimal_edge = new EdgeTimeOptimal; + timeoptimal_edge->setVertex(0,teb_.TimeDiffVertex(i)); + timeoptimal_edge->setInformation(information); + timeoptimal_edge->setTebConfig(*cfg_); + optimizer_->addEdge(timeoptimal_edge); + } +} + +void TebOptimalPlanner::AddEdgesShortestPath() +{ + if (cfg_->optim.weight_shortest_path==0) + return; // if weight equals zero skip adding edges! + + Eigen::Matrix information; + information.fill(cfg_->optim.weight_shortest_path); + + for (int i=0; i < teb_.sizePoses()-1; ++i) + { + EdgeShortestPath* shortest_path_edge = new EdgeShortestPath; + shortest_path_edge->setVertex(0,teb_.PoseVertex(i)); + shortest_path_edge->setVertex(1,teb_.PoseVertex(i+1)); + shortest_path_edge->setInformation(information); + shortest_path_edge->setTebConfig(*cfg_); + optimizer_->addEdge(shortest_path_edge); + } +} + + + +void TebOptimalPlanner::AddEdgesKinematicsDiffDrive() +{ + if (cfg_->optim.weight_kinematics_nh==0 && cfg_->optim.weight_kinematics_forward_drive==0) + return; // if weight equals zero skip adding edges! + + // create edge for satisfiying kinematic constraints + Eigen::Matrix information_kinematics; + information_kinematics.fill(0.0); + information_kinematics(0, 0) = cfg_->optim.weight_kinematics_nh; + information_kinematics(1, 1) = cfg_->optim.weight_kinematics_forward_drive; + + for (int i=0; i < teb_.sizePoses()-1; i++) // ignore twiced start only + { + EdgeKinematicsDiffDrive* kinematics_edge = new EdgeKinematicsDiffDrive; + kinematics_edge->setVertex(0,teb_.PoseVertex(i)); + kinematics_edge->setVertex(1,teb_.PoseVertex(i+1)); + kinematics_edge->setInformation(information_kinematics); + kinematics_edge->setTebConfig(*cfg_); + optimizer_->addEdge(kinematics_edge); + } +} + +void TebOptimalPlanner::AddEdgesKinematicsCarlike() +{ + if (cfg_->optim.weight_kinematics_nh==0 && cfg_->optim.weight_kinematics_turning_radius==0) + return; // if weight equals zero skip adding edges! + + // create edge for satisfiying kinematic constraints + Eigen::Matrix information_kinematics; + information_kinematics.fill(0.0); + information_kinematics(0, 0) = cfg_->optim.weight_kinematics_nh; + information_kinematics(1, 1) = cfg_->optim.weight_kinematics_turning_radius; + + for (int i=0; i < teb_.sizePoses()-1; i++) // ignore twiced start only + { + EdgeKinematicsCarlike* kinematics_edge = new EdgeKinematicsCarlike; + kinematics_edge->setVertex(0,teb_.PoseVertex(i)); + kinematics_edge->setVertex(1,teb_.PoseVertex(i+1)); + kinematics_edge->setInformation(information_kinematics); + kinematics_edge->setTebConfig(*cfg_); + optimizer_->addEdge(kinematics_edge); + } +} + + +void TebOptimalPlanner::AddEdgesPreferRotDir() +{ + //TODO(roesmann): Note, these edges can result in odd predictions, in particular + // we can observe a substantional mismatch between open- and closed-loop planning + // leading to a poor control performance. + // At the moment, we keep these functionality for oscillation recovery: + // Activating the edge for a short time period might not be crucial and + // could move the robot to a new oscillation-free state. + // This needs to be analyzed in more detail! + if (prefer_rotdir_ == RotType::none || cfg_->optim.weight_prefer_rotdir==0) + return; // if weight equals zero skip adding edges! + + if (prefer_rotdir_ != RotType::right && prefer_rotdir_ != RotType::left) + { + RCLCPP_WARN(node_->get_logger(), "TebOptimalPlanner::AddEdgesPreferRotDir(): unsupported RotType selected. Skipping edge creation."); + return; + } + + // create edge for satisfiying kinematic constraints + Eigen::Matrix information_rotdir; + information_rotdir.fill(cfg_->optim.weight_prefer_rotdir); + + for (int i=0; i < teb_.sizePoses()-1 && i < 3; ++i) // currently: apply to first 3 rotations + { + EdgePreferRotDir* rotdir_edge = new EdgePreferRotDir; + rotdir_edge->setVertex(0,teb_.PoseVertex(i)); + rotdir_edge->setVertex(1,teb_.PoseVertex(i+1)); + rotdir_edge->setInformation(information_rotdir); + + if (prefer_rotdir_ == RotType::left) + rotdir_edge->preferLeft(); + else if (prefer_rotdir_ == RotType::right) + rotdir_edge->preferRight(); + + optimizer_->addEdge(rotdir_edge); + } +} + +void TebOptimalPlanner::AddEdgesVelocityObstacleRatio() +{ + Eigen::Matrix information; + information(0,0) = cfg_->optim.weight_velocity_obstacle_ratio; + information(1,1) = cfg_->optim.weight_velocity_obstacle_ratio; + information(0,1) = information(1,0) = 0; + + auto iter_obstacle = obstacles_per_vertex_.begin(); + + for (int index = 0; index < teb_.sizePoses() - 1; ++index) + { + for (const ObstaclePtr obstacle : (*iter_obstacle++)) + { + EdgeVelocityObstacleRatio* edge = new EdgeVelocityObstacleRatio; + edge->setVertex(0,teb_.PoseVertex(index)); + edge->setVertex(1,teb_.PoseVertex(index + 1)); + edge->setVertex(2,teb_.TimeDiffVertex(index)); + edge->setInformation(information); + edge->setParameters(*cfg_, cfg_->robot_model.get(), obstacle.get()); + optimizer_->addEdge(edge); + } + } +} + +bool TebOptimalPlanner::hasDiverged() const +{ + // Early returns if divergence detection is not active + if (!cfg_->recovery.divergence_detection_enable) + return false; + + auto stats_vector = optimizer_->batchStatistics(); + + // No statistics yet + if (stats_vector.empty()) + return false; + + // Grab the statistics of the final iteration + const auto last_iter_stats = stats_vector.back(); + + return last_iter_stats.chi2 > cfg_->recovery.divergence_detection_max_chi_squared; +} + +void TebOptimalPlanner::computeCurrentCost(double obst_cost_scale, double viapoint_cost_scale, bool alternative_time_cost) +{ + // check if graph is empty/exist -> important if function is called between buildGraph and optimizeGraph/clearGraph + bool graph_exist_flag(false); + if (optimizer_->edges().empty() && optimizer_->vertices().empty()) + { + // here the graph is build again, for time efficiency make sure to call this function + // between buildGraph and Optimize (deleted), but it depends on the application + buildGraph(); + optimizer_->initializeOptimization(); + } + else + { + graph_exist_flag = true; + } + + optimizer_->computeInitialGuess(); + + cost_ = 0; + + if (alternative_time_cost) + { + cost_ += teb_.getSumOfAllTimeDiffs(); + // TEST we use SumOfAllTimeDiffs() here, because edge cost depends on number of samples, which is not always the same for similar TEBs, + // since we are using an AutoResize Function with hysteresis. + } + + // now we need pointers to all edges -> calculate error for each edge-type + // since we aren't storing edge pointers, we need to check every edge + for (std::vector::const_iterator it = optimizer_->activeEdges().begin(); it!= optimizer_->activeEdges().end(); it++) + { + double cur_cost = (*it)->chi2(); + + if (dynamic_cast(*it) != nullptr + || dynamic_cast(*it) != nullptr + || dynamic_cast(*it) != nullptr) + { + cur_cost *= obst_cost_scale; + } + else if (dynamic_cast(*it) != nullptr) + { + cur_cost *= viapoint_cost_scale; + } + else if (dynamic_cast(*it) != nullptr && alternative_time_cost) + { + continue; // skip these edges if alternative_time_cost is active + } + cost_ += cur_cost; + } + + // delete temporary created graph + if (!graph_exist_flag) + clearGraph(); +} + + +void TebOptimalPlanner::extractVelocity(const PoseSE2& pose1, const PoseSE2& pose2, double dt, double& vx, double& vy, double& omega) const +{ + if (dt == 0) + { + vx = 0; + vy = 0; + omega = 0; + return; + } + + Eigen::Vector2d deltaS = pose2.position() - pose1.position(); + + if (cfg_->robot.max_vel_y == 0) // nonholonomic robot + { + Eigen::Vector2d conf1dir( cos(pose1.theta()), sin(pose1.theta()) ); + // translational velocity + double dir = deltaS.dot(conf1dir); + vx = (double) g2o::sign(dir) * deltaS.norm()/dt; + vy = 0; + } + else // holonomic robot + { + // transform pose 2 into the current robot frame (pose1) + // for velocities only the rotation of the direction vector is necessary. + // (map->pose1-frame: inverse 2d rotation matrix) + double cos_theta1 = std::cos(pose1.theta()); + double sin_theta1 = std::sin(pose1.theta()); + double p1_dx = cos_theta1*deltaS.x() + sin_theta1*deltaS.y(); + double p1_dy = -sin_theta1*deltaS.x() + cos_theta1*deltaS.y(); + vx = p1_dx / dt; + vy = p1_dy / dt; + } + + // rotational velocity + double orientdiff = g2o::normalize_theta(pose2.theta() - pose1.theta()); + omega = orientdiff/dt; +} + +bool TebOptimalPlanner::getVelocityCommand(double& vx, double& vy, double& omega, int look_ahead_poses) const +{ + if (teb_.sizePoses()<2) + { + RCLCPP_ERROR(node_->get_logger(), "TebOptimalPlanner::getVelocityCommand(): The trajectory contains less than 2 poses. Make sure to init and optimize/plan the trajectory fist."); + vx = 0; + vy = 0; + omega = 0; + return false; + } + look_ahead_poses = std::max(1, std::min(look_ahead_poses, teb_.sizePoses() - 1)); + double dt = 0.0; + for(int counter = 0; counter < look_ahead_poses; ++counter) + { + dt += teb_.TimeDiff(counter); + if(dt >= cfg_->trajectory.dt_ref * look_ahead_poses) // TODO: change to look-ahead time? Refine trajectory? + { + look_ahead_poses = counter + 1; + break; + } + } + if (dt<=0) + { + RCLCPP_ERROR(node_->get_logger(), "TebOptimalPlanner::getVelocityCommand() - timediff<=0 is invalid!"); + vx = 0; + vy = 0; + omega = 0; + return false; + } + + // Get velocity from the first two configurations + extractVelocity(teb_.Pose(0), teb_.Pose(look_ahead_poses), dt, vx, vy, omega); + return true; +} + +void TebOptimalPlanner::getVelocityProfile(std::vector& velocity_profile) const +{ + int n = teb_.sizePoses(); + velocity_profile.resize( n+1 ); + + // start velocity + velocity_profile.front().linear.z = 0; + velocity_profile.front().angular.x = velocity_profile.front().angular.y = 0; + velocity_profile.front().linear.x = vel_start_.second.linear.x; + velocity_profile.front().linear.y = vel_start_.second.linear.y; + velocity_profile.front().angular.z = vel_start_.second.angular.z; + + for (int i=1; i& trajectory) const +{ + int n = teb_.sizePoses(); + + trajectory.resize(n); + + if (n == 0) + return; + + double curr_time = 0; + + // start + teb_msgs::msg::TrajectoryPointMsg& start = trajectory.front(); + teb_.Pose(0).toPoseMsg(start.pose); + start.velocity.linear.z = 0; + start.velocity.angular.x = start.velocity.angular.y = 0; + start.velocity.linear.x = vel_start_.second.linear.x; + start.velocity.linear.y = vel_start_.second.linear.y; + start.velocity.angular.z = vel_start_.second.angular.z; + start.time_from_start = durationFromSec(curr_time); + + curr_time += teb_.TimeDiff(0); + + // intermediate points + for (int i=1; i < n-1; ++i) + { + teb_msgs::msg::TrajectoryPointMsg& point = trajectory[i]; + teb_.Pose(i).toPoseMsg(point.pose); + point.velocity.linear.z = 0; + point.velocity.angular.x = point.velocity.angular.y = 0; + double vel1_x, vel1_y, vel2_x, vel2_y, omega1, omega2; + extractVelocity(teb_.Pose(i-1), teb_.Pose(i), teb_.TimeDiff(i-1), vel1_x, vel1_y, omega1); + extractVelocity(teb_.Pose(i), teb_.Pose(i+1), teb_.TimeDiff(i), vel2_x, vel2_y, omega2); + point.velocity.linear.x = 0.5*(vel1_x+vel2_x); + point.velocity.linear.y = 0.5*(vel1_y+vel2_y); + point.velocity.angular.z = 0.5*(omega1+omega2); + point.time_from_start = durationFromSec(curr_time); + + curr_time += teb_.TimeDiff(i); + } + + // goal + teb_msgs::msg::TrajectoryPointMsg& goal = trajectory.back(); + teb_.BackPose().toPoseMsg(goal.pose); + goal.velocity.linear.z = 0; + goal.velocity.angular.x = goal.velocity.angular.y = 0; + goal.velocity.linear.x = vel_goal_.second.linear.x; + goal.velocity.linear.y = vel_goal_.second.linear.y; + goal.velocity.angular.z = vel_goal_.second.angular.z; + goal.time_from_start = durationFromSec(curr_time); +} + + +bool TebOptimalPlanner::isTrajectoryFeasible(dwb_critics::ObstacleFootprintCritic* costmap_model, const std::vector& footprint_spec, + double inscribed_radius, double circumscribed_radius, int look_ahead_idx, double feasibility_check_lookahead_distance) +{ + if (look_ahead_idx < 0 || look_ahead_idx >= teb().sizePoses()) + look_ahead_idx = teb().sizePoses() - 1; + + if (feasibility_check_lookahead_distance > 0){ + for (int i=1; i < teb().sizePoses(); ++i){ + double pose_distance=std::hypot(teb().Pose(i).x()-teb().Pose(0).x(), teb().Pose(i).y()-teb().Pose(0).y()); + if(pose_distance > feasibility_check_lookahead_distance){ + look_ahead_idx = i - 1; + break; + } + } + } + + geometry_msgs::msg::Pose2D pose2d; + for (int i=0; i <= look_ahead_idx; ++i) + { + teb().Pose(i).toPoseMsg(pose2d); + if (!isPoseValid(pose2d, costmap_model, footprint_spec)){ + if (visualization_) + { + visualization_->publishInfeasibleRobotPose(teb().Pose(i), *cfg_->robot_model); + } + return false; + } + // Checks if the distance between two poses is higher than the robot radius or the orientation diff is bigger than the specified threshold + // and interpolates in that case. + // (if obstacles are pushing two consecutive poses away, the center between two consecutive poses might coincide with the obstacle ;-)! + if (i cfg_->trajectory.min_resolution_collision_check_angular || delta_dist.norm() > inscribed_radius) + { + int n_additional_samples = std::max(std::ceil(fabs(delta_rot) / cfg_->trajectory.min_resolution_collision_check_angular), + std::ceil(delta_dist.norm() / inscribed_radius)) - 1; + PoseSE2 intermediate_pose = teb().Pose(i); + for(int step = 0; step < n_additional_samples; ++step) + { + intermediate_pose.position() = intermediate_pose.position() + delta_dist / (n_additional_samples + 1.0); + intermediate_pose.theta() = g2o::normalize_theta(intermediate_pose.theta() + + delta_rot / (n_additional_samples + 1.0)); + intermediate_pose.toPoseMsg(pose2d); + + if (!isPoseValid(pose2d, costmap_model, footprint_spec)){ + if (visualization_) + { + visualization_->publishInfeasibleRobotPose(intermediate_pose, *cfg_->robot_model); + } + return false; + } + } + } + } + } + return true; +} + +bool TebOptimalPlanner::isPoseValid(geometry_msgs::msg::Pose2D pose2d, dwb_critics::ObstacleFootprintCritic* costmap_model, + const std::vector& footprint_spec) +{ + try { + if ( costmap_model->scorePose(pose2d, dwb_critics::getOrientedFootprint(pose2d, footprint_spec)) < 0 ) { + return false; + } + } catch (...) { + return false; + } + return true; +} + +} // namespace teb_local_planner diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/recovery_behaviors.cpp b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/recovery_behaviors.cpp new file mode 100644 index 0000000..eaeca56 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/recovery_behaviors.cpp @@ -0,0 +1,118 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#include "teb_local_planner/recovery_behaviors.h" +#include +#include +#include +#include +#include + +namespace teb_local_planner +{ + +// ============== FailureDetector Implementation =================== + +void FailureDetector::update(const geometry_msgs::msg::Twist& twist, double v_max, double v_backwards_max, double omega_max, double v_eps, double omega_eps) +{ + if (buffer_.capacity() == 0) + return; + + VelMeasurement measurement; + measurement.v = twist.linear.x; // just consider linear velocity in x-direction in the robot frame for now + measurement.omega = twist.angular.z; + + if (measurement.v > 0 && v_max>0) + measurement.v /= v_max; + else if (measurement.v < 0 && v_backwards_max > 0) + measurement.v /= v_backwards_max; + + if (omega_max > 0) + measurement.omega /= omega_max; + + buffer_.push_back(measurement); + + // immediately compute new state + detect(v_eps, omega_eps); +} + +void FailureDetector::clear() +{ + buffer_.clear(); + oscillating_ = false; +} + +bool FailureDetector::isOscillating() const +{ + return oscillating_; +} + +bool FailureDetector::detect(double v_eps, double omega_eps) +{ + oscillating_ = false; + + if (buffer_.size() < buffer_.capacity()/2) // we start detecting only as soon as we have the buffer filled at least half + return false; + + double n = (double)buffer_.size(); + + // compute mean for v and omega + double v_mean=0; + double omega_mean=0; + int omega_zero_crossings = 0; + for (int i=0; i < n; ++i) + { + v_mean += buffer_[i].v; + omega_mean += buffer_[i].omega; + if ( i>0 && g2o::sign(buffer_[i].omega) != g2o::sign(buffer_[i-1].omega) ) + ++omega_zero_crossings; + } + v_mean /= n; + omega_mean /= n; + + if (std::abs(v_mean) < v_eps && std::abs(omega_mean) < omega_eps && omega_zero_crossings>1 ) + { + oscillating_ = true; + } +// ROS_INFO_STREAM("v: " << std::abs(v_mean) << ", omega: " << std::abs(omega_mean) << ", zero crossings: " << omega_zero_crossings); + return oscillating_; +} + + + +} // namespace teb_local_planner diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/teb_config.cpp b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/teb_config.cpp new file mode 100644 index 0000000..8123efd --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/teb_config.cpp @@ -0,0 +1,886 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#include "teb_local_planner/teb_config.h" + +using nav2_util::declare_parameter_if_not_declared; + +namespace teb_local_planner +{ + +void TebConfig::declareParameters(const nav2_util::LifecycleNode::SharedPtr nh, const std::string name) { + node_name = name; + + declare_parameter_if_not_declared(nh, name + "." + "odom_topic", rclcpp::ParameterValue(odom_topic)); + + // Trajectory + declare_parameter_if_not_declared(nh, name + "." + "teb_autosize", rclcpp::ParameterValue(trajectory.teb_autosize)); + declare_parameter_if_not_declared(nh, name + "." + "dt_ref", rclcpp::ParameterValue(trajectory.dt_ref)); + declare_parameter_if_not_declared(nh, name + "." + "dt_hysteresis", rclcpp::ParameterValue(trajectory.dt_hysteresis)); + declare_parameter_if_not_declared(nh, name + "." + "min_samples", rclcpp::ParameterValue(trajectory.min_samples)); + declare_parameter_if_not_declared(nh, name + "." + "max_samples", rclcpp::ParameterValue(trajectory.max_samples)); + declare_parameter_if_not_declared(nh, name + "." + "global_plan_overwrite_orientation", rclcpp::ParameterValue(trajectory.global_plan_overwrite_orientation)); + declare_parameter_if_not_declared(nh, name + "." + "allow_init_with_backwards_motion", rclcpp::ParameterValue(trajectory.allow_init_with_backwards_motion)); + declare_parameter_if_not_declared(nh, name + "." + "global_plan_viapoint_sep", rclcpp::ParameterValue(trajectory.global_plan_viapoint_sep)); + declare_parameter_if_not_declared(nh, name + "." + "via_points_ordered", rclcpp::ParameterValue(trajectory.via_points_ordered)); + declare_parameter_if_not_declared(nh, name + "." + "max_global_plan_lookahead_dist", rclcpp::ParameterValue(trajectory.max_global_plan_lookahead_dist)); + declare_parameter_if_not_declared(nh, name + "." + "global_plan_prune_distance", rclcpp::ParameterValue(trajectory.global_plan_prune_distance)); + declare_parameter_if_not_declared(nh, name + "." + "exact_arc_length", rclcpp::ParameterValue(trajectory.exact_arc_length)); + declare_parameter_if_not_declared(nh, name + "." + "force_reinit_new_goal_dist", rclcpp::ParameterValue(trajectory.force_reinit_new_goal_dist)); + declare_parameter_if_not_declared(nh, name + "." + "force_reinit_new_goal_angular", rclcpp::ParameterValue(trajectory.force_reinit_new_goal_angular)); + declare_parameter_if_not_declared(nh, name + "." + "feasibility_check_no_poses", rclcpp::ParameterValue(trajectory.feasibility_check_no_poses)); + declare_parameter_if_not_declared(nh, name + "." + "publish_feedback", rclcpp::ParameterValue(trajectory.publish_feedback)); + declare_parameter_if_not_declared(nh, name + "." + "min_resolution_collision_check_angular", rclcpp::ParameterValue(trajectory.min_resolution_collision_check_angular)); + declare_parameter_if_not_declared(nh, name + "." + "control_look_ahead_poses", rclcpp::ParameterValue(trajectory.control_look_ahead_poses)); + declare_parameter_if_not_declared(nh, name + "." + "feasibility_check_lookahead_distance", rclcpp::ParameterValue(trajectory.feasibility_check_lookahead_distance)); + + // Robot + declare_parameter_if_not_declared(nh, name + "." + "max_vel_x", rclcpp::ParameterValue(robot.max_vel_x)); + declare_parameter_if_not_declared(nh, name + "." + "max_vel_x_backwards", rclcpp::ParameterValue(robot.max_vel_x_backwards)); + declare_parameter_if_not_declared(nh, name + "." + "max_vel_y", rclcpp::ParameterValue(robot.max_vel_y)); + declare_parameter_if_not_declared(nh, name + "." + "max_vel_theta", rclcpp::ParameterValue(robot.max_vel_theta)); + declare_parameter_if_not_declared(nh, name + "." + "acc_lim_x", rclcpp::ParameterValue(robot.acc_lim_x)); + declare_parameter_if_not_declared(nh, name + "." + "acc_lim_y", rclcpp::ParameterValue(robot.acc_lim_y)); + declare_parameter_if_not_declared(nh, name + "." + "acc_lim_theta", rclcpp::ParameterValue(robot.acc_lim_theta)); + declare_parameter_if_not_declared(nh, name + "." + "min_turning_radius", rclcpp::ParameterValue(robot.min_turning_radius)); + declare_parameter_if_not_declared(nh, name + "." + "wheelbase", rclcpp::ParameterValue(robot.wheelbase)); + declare_parameter_if_not_declared(nh, name + "." + "cmd_angle_instead_rotvel", rclcpp::ParameterValue(robot.cmd_angle_instead_rotvel)); + declare_parameter_if_not_declared(nh, name + "." + "is_footprint_dynamic", rclcpp::ParameterValue(robot.is_footprint_dynamic)); + + // GoalTolerance + declare_parameter_if_not_declared(nh, name + "." + "free_goal_vel", rclcpp::ParameterValue(goal_tolerance.free_goal_vel)); + + // Obstacles + declare_parameter_if_not_declared(nh, name + "." + "min_obstacle_dist", rclcpp::ParameterValue(obstacles.min_obstacle_dist)); + declare_parameter_if_not_declared(nh, name + "." + "inflation_dist", rclcpp::ParameterValue(obstacles.inflation_dist)); + declare_parameter_if_not_declared(nh, name + "." + "dynamic_obstacle_inflation_dist", rclcpp::ParameterValue(obstacles.dynamic_obstacle_inflation_dist)); + declare_parameter_if_not_declared(nh, name + "." + "include_dynamic_obstacles", rclcpp::ParameterValue(obstacles.include_dynamic_obstacles)); + declare_parameter_if_not_declared(nh, name + "." + "include_costmap_obstacles", rclcpp::ParameterValue(obstacles.include_costmap_obstacles)); + declare_parameter_if_not_declared(nh, name + "." + "costmap_obstacles_behind_robot_dist", rclcpp::ParameterValue(obstacles.costmap_obstacles_behind_robot_dist)); + declare_parameter_if_not_declared(nh, name + "." + "obstacle_poses_affected", rclcpp::ParameterValue(obstacles.obstacle_poses_affected)); + declare_parameter_if_not_declared(nh, name + "." + "legacy_obstacle_association", rclcpp::ParameterValue(obstacles.legacy_obstacle_association)); + declare_parameter_if_not_declared(nh, name + "." + "obstacle_association_force_inclusion_factor", rclcpp::ParameterValue(obstacles.obstacle_association_force_inclusion_factor)); + declare_parameter_if_not_declared(nh, name + "." + "obstacle_association_cutoff_factor", rclcpp::ParameterValue(obstacles.obstacle_association_cutoff_factor)); + declare_parameter_if_not_declared(nh, name + "." + "costmap_converter_plugin", rclcpp::ParameterValue(obstacles.costmap_converter_plugin)); + declare_parameter_if_not_declared(nh, name + "." + "costmap_converter_spin_thread", rclcpp::ParameterValue(obstacles.costmap_converter_spin_thread)); + declare_parameter_if_not_declared(nh, name + "." + "obstacle_proximity_ratio_max_vel", rclcpp::ParameterValue(obstacles.obstacle_proximity_ratio_max_vel)); + declare_parameter_if_not_declared(nh, name + "." + "obstacle_proximity_lower_bound", rclcpp::ParameterValue(obstacles.obstacle_proximity_lower_bound)); + declare_parameter_if_not_declared(nh, name + "." + "obstacle_proximity_upper_bound", rclcpp::ParameterValue(obstacles.obstacle_proximity_upper_bound)); + + // Optimization + declare_parameter_if_not_declared(nh, name + "." + "no_inner_iterations", rclcpp::ParameterValue(optim.no_inner_iterations)); + declare_parameter_if_not_declared(nh, name + "." + "no_outer_iterations", rclcpp::ParameterValue(optim.no_outer_iterations)); + declare_parameter_if_not_declared(nh, name + "." + "optimization_activate", rclcpp::ParameterValue(optim.optimization_activate)); + declare_parameter_if_not_declared(nh, name + "." + "optimization_verbose", rclcpp::ParameterValue(optim.optimization_verbose)); + declare_parameter_if_not_declared(nh, name + "." + "penalty_epsilon", rclcpp::ParameterValue(optim.penalty_epsilon)); + declare_parameter_if_not_declared(nh, name + "." + "weight_max_vel_x", rclcpp::ParameterValue(optim.weight_max_vel_x)); + declare_parameter_if_not_declared(nh, name + "." + "weight_max_vel_y", rclcpp::ParameterValue(optim.weight_max_vel_y)); + declare_parameter_if_not_declared(nh, name + "." + "weight_max_vel_theta", rclcpp::ParameterValue(optim.weight_max_vel_theta)); + declare_parameter_if_not_declared(nh, name + "." + "weight_acc_lim_x", rclcpp::ParameterValue(optim.weight_acc_lim_x)); + declare_parameter_if_not_declared(nh, name + "." + "weight_acc_lim_y", rclcpp::ParameterValue(optim.weight_acc_lim_y)); + declare_parameter_if_not_declared(nh, name + "." + "weight_acc_lim_theta", rclcpp::ParameterValue(optim.weight_acc_lim_theta)); + declare_parameter_if_not_declared(nh, name + "." + "weight_kinematics_nh", rclcpp::ParameterValue(optim.weight_kinematics_nh)); + declare_parameter_if_not_declared(nh, name + "." + "weight_kinematics_forward_drive", rclcpp::ParameterValue(optim.weight_kinematics_forward_drive)); + declare_parameter_if_not_declared(nh, name + "." + "weight_kinematics_turning_radius", rclcpp::ParameterValue(optim.weight_kinematics_turning_radius)); + declare_parameter_if_not_declared(nh, name + "." + "weight_optimaltime", rclcpp::ParameterValue(optim.weight_optimaltime)); + declare_parameter_if_not_declared(nh, name + "." + "weight_shortest_path", rclcpp::ParameterValue(optim.weight_shortest_path)); + declare_parameter_if_not_declared(nh, name + "." + "weight_obstacle", rclcpp::ParameterValue(optim.weight_obstacle)); + declare_parameter_if_not_declared(nh, name + "." + "weight_inflation", rclcpp::ParameterValue(optim.weight_inflation)); + declare_parameter_if_not_declared(nh, name + "." + "weight_dynamic_obstacle", rclcpp::ParameterValue(optim.weight_dynamic_obstacle)); + declare_parameter_if_not_declared(nh, name + "." + "weight_dynamic_obstacle_inflation", rclcpp::ParameterValue(optim.weight_dynamic_obstacle_inflation)); + declare_parameter_if_not_declared(nh, name + "." + "weight_viapoint", rclcpp::ParameterValue(optim.weight_viapoint)); + declare_parameter_if_not_declared(nh, name + "." + "weight_prefer_rotdir", rclcpp::ParameterValue(optim.weight_prefer_rotdir)); + declare_parameter_if_not_declared(nh, name + "." + "weight_adapt_factor", rclcpp::ParameterValue(optim.weight_adapt_factor)); + declare_parameter_if_not_declared(nh, name + "." + "obstacle_cost_exponent", rclcpp::ParameterValue(optim.obstacle_cost_exponent)); + declare_parameter_if_not_declared(nh, name + "." + "weight_velocity_obstacle_ratio", rclcpp::ParameterValue(optim.weight_velocity_obstacle_ratio)); + + // Homotopy Class Planner + declare_parameter_if_not_declared(nh, name + "." + "enable_homotopy_class_planning", rclcpp::ParameterValue(hcp.enable_homotopy_class_planning)); + declare_parameter_if_not_declared(nh, name + "." + "enable_multithreading", rclcpp::ParameterValue(hcp.enable_multithreading)); + declare_parameter_if_not_declared(nh, name + "." + "simple_exploration", rclcpp::ParameterValue(hcp.simple_exploration)); + declare_parameter_if_not_declared(nh, name + "." + "max_number_classes", rclcpp::ParameterValue(hcp.max_number_classes)); + declare_parameter_if_not_declared(nh, name + "." + "selection_obst_cost_scale", rclcpp::ParameterValue(hcp.selection_obst_cost_scale)); + declare_parameter_if_not_declared(nh, name + "." + "selection_prefer_initial_plan", rclcpp::ParameterValue(hcp.selection_prefer_initial_plan)); + declare_parameter_if_not_declared(nh, name + "." + "selection_viapoint_cost_scale", rclcpp::ParameterValue(hcp.selection_viapoint_cost_scale)); + declare_parameter_if_not_declared(nh, name + "." + "selection_cost_hysteresis", rclcpp::ParameterValue(hcp.selection_cost_hysteresis)); + declare_parameter_if_not_declared(nh, name + "." + "selection_alternative_time_cost", rclcpp::ParameterValue(hcp.selection_alternative_time_cost)); + declare_parameter_if_not_declared(nh, name + "." + "switching_blocking_period", rclcpp::ParameterValue(hcp.switching_blocking_period)); + declare_parameter_if_not_declared(nh, name + "." + "roadmap_graph_samples", rclcpp::ParameterValue(hcp.roadmap_graph_no_samples)); + declare_parameter_if_not_declared(nh, name + "." + "roadmap_graph_area_width", rclcpp::ParameterValue(hcp.roadmap_graph_area_width)); + declare_parameter_if_not_declared(nh, name + "." + "roadmap_graph_area_length_scale", rclcpp::ParameterValue(hcp.roadmap_graph_area_length_scale)); + declare_parameter_if_not_declared(nh, name + "." + "h_signature_prescaler", rclcpp::ParameterValue(hcp.h_signature_prescaler)); + declare_parameter_if_not_declared(nh, name + "." + "h_signature_threshold", rclcpp::ParameterValue(hcp.h_signature_threshold)); + declare_parameter_if_not_declared(nh, name + "." + "obstacle_keypoint_offset", rclcpp::ParameterValue(hcp.obstacle_keypoint_offset)); + declare_parameter_if_not_declared(nh, name + "." + "obstacle_heading_threshold", rclcpp::ParameterValue(hcp.obstacle_heading_threshold)); + declare_parameter_if_not_declared(nh, name + "." + "viapoints_all_candidates", rclcpp::ParameterValue(hcp.viapoints_all_candidates)); + declare_parameter_if_not_declared(nh, name + "." + "visualize_hc_graph", rclcpp::ParameterValue(hcp.visualize_hc_graph)); + declare_parameter_if_not_declared(nh, name + "." + "visualize_with_time_as_z_axis_scale", rclcpp::ParameterValue(hcp.visualize_with_time_as_z_axis_scale)); + declare_parameter_if_not_declared(nh, name + "." + "delete_detours_backwards", rclcpp::ParameterValue(hcp.delete_detours_backwards)); + declare_parameter_if_not_declared(nh, name + "." + "detours_orientation_tolerance", rclcpp::ParameterValue(hcp.detours_orientation_tolerance)); + declare_parameter_if_not_declared(nh, name + "." + "length_start_orientation_vector", rclcpp::ParameterValue(hcp.length_start_orientation_vector)); + declare_parameter_if_not_declared(nh, name + "." + "max_ratio_detours_duration_best_duration", rclcpp::ParameterValue(hcp.max_ratio_detours_duration_best_duration)); + declare_parameter_if_not_declared(nh, name + "." + "selection_dropping_probability", rclcpp::ParameterValue(hcp.selection_dropping_probability)); + + // Recovery + declare_parameter_if_not_declared(nh, name + "." + "shrink_horizon_backup", rclcpp::ParameterValue(recovery.shrink_horizon_backup)); + declare_parameter_if_not_declared(nh, name + "." + "shrink_horizon_min_duration", rclcpp::ParameterValue(recovery.shrink_horizon_min_duration)); + declare_parameter_if_not_declared(nh, name + "." + "oscillation_recovery", rclcpp::ParameterValue(recovery.oscillation_recovery)); + declare_parameter_if_not_declared(nh, name + "." + "oscillation_v_eps", rclcpp::ParameterValue(recovery.oscillation_v_eps)); + declare_parameter_if_not_declared(nh, name + "." + "oscillation_omega_eps", rclcpp::ParameterValue(recovery.oscillation_omega_eps)); + declare_parameter_if_not_declared(nh, name + "." + "oscillation_recovery_min_duration", rclcpp::ParameterValue(recovery.oscillation_recovery_min_duration)); + declare_parameter_if_not_declared(nh, name + "." + "oscillation_filter_duration", rclcpp::ParameterValue(recovery.oscillation_filter_duration)); + declare_parameter_if_not_declared(nh, name + "." + "divergence_detection_enable", rclcpp::ParameterValue(recovery.divergence_detection_enable)); + declare_parameter_if_not_declared(nh, name + "." + "divergence_detection_max_chi_squared", rclcpp::ParameterValue(recovery.divergence_detection_max_chi_squared)); + + // footprint model + declare_parameter_if_not_declared(nh, name + "." + "footprint_model.type", rclcpp::ParameterType::PARAMETER_STRING); +} + +void TebConfig::loadRosParamFromNodeHandle(const nav2_util::LifecycleNode::SharedPtr nh, const std::string name) +{ + nh->get_parameter_or(name + "." + "odom_topic", odom_topic, odom_topic); + + // Trajectory + nh->get_parameter_or(name + "." + "teb_autosize", trajectory.teb_autosize, trajectory.teb_autosize); + nh->get_parameter_or(name + "." + "dt_ref", trajectory.dt_ref, trajectory.dt_ref); + nh->get_parameter_or(name + "." + "dt_hysteresis", trajectory.dt_hysteresis, trajectory.dt_hysteresis); + nh->get_parameter_or(name + "." + "min_samples", trajectory.min_samples, trajectory.min_samples); + nh->get_parameter_or(name + "." + "max_samples", trajectory.max_samples, trajectory.max_samples); + nh->get_parameter_or(name + "." + "global_plan_overwrite_orientation", trajectory.global_plan_overwrite_orientation, trajectory.global_plan_overwrite_orientation); + nh->get_parameter_or(name + "." + "allow_init_with_backwards_motion", trajectory.allow_init_with_backwards_motion, trajectory.allow_init_with_backwards_motion); + nh->get_parameter_or(name + "." + "global_plan_viapoint_sep", trajectory.global_plan_viapoint_sep, trajectory.global_plan_viapoint_sep); + nh->get_parameter_or(name + "." + "via_points_ordered", trajectory.via_points_ordered, trajectory.via_points_ordered); + nh->get_parameter_or(name + "." + "max_global_plan_lookahead_dist", trajectory.max_global_plan_lookahead_dist, trajectory.max_global_plan_lookahead_dist); + nh->get_parameter_or(name + "." + "global_plan_prune_distance", trajectory.global_plan_prune_distance, trajectory.global_plan_prune_distance); + nh->get_parameter_or(name + "." + "exact_arc_length", trajectory.exact_arc_length, trajectory.exact_arc_length); + nh->get_parameter_or(name + "." + "force_reinit_new_goal_dist", trajectory.force_reinit_new_goal_dist, trajectory.force_reinit_new_goal_dist); + nh->get_parameter_or(name + "." + "force_reinit_new_goal_angular", trajectory.force_reinit_new_goal_angular, trajectory.force_reinit_new_goal_angular); + nh->get_parameter_or(name + "." + "feasibility_check_no_poses", trajectory.feasibility_check_no_poses, trajectory.feasibility_check_no_poses); + nh->get_parameter_or(name + "." + "publish_feedback", trajectory.publish_feedback, trajectory.publish_feedback); + nh->get_parameter_or(name + "." + "min_resolution_collision_check_angular", trajectory.min_resolution_collision_check_angular, trajectory.min_resolution_collision_check_angular); + nh->get_parameter_or(name + "." + "control_look_ahead_poses", trajectory.control_look_ahead_poses, trajectory.control_look_ahead_poses); + nh->get_parameter_or(name + "." + "feasibility_check_lookahead_distance", trajectory.feasibility_check_lookahead_distance, trajectory.feasibility_check_lookahead_distance); + + // Robot + nh->get_parameter_or(name + "." + "max_vel_x", robot.max_vel_x, robot.max_vel_x); + nh->get_parameter_or(name + "." + "max_vel_x_backwards", robot.max_vel_x_backwards, robot.max_vel_x_backwards); + nh->get_parameter_or(name + "." + "max_vel_y", robot.max_vel_y, robot.max_vel_y); + nh->get_parameter_or(name + "." + "max_vel_theta", robot.max_vel_theta, robot.max_vel_theta); + nh->get_parameter_or(name + "." + "acc_lim_x", robot.acc_lim_x, robot.acc_lim_x); + nh->get_parameter_or(name + "." + "acc_lim_y", robot.acc_lim_y, robot.acc_lim_y); + nh->get_parameter_or(name + "." + "acc_lim_theta", robot.acc_lim_theta, robot.acc_lim_theta); + nh->get_parameter_or(name + "." + "min_turning_radius", robot.min_turning_radius, robot.min_turning_radius); + nh->get_parameter_or(name + "." + "wheelbase", robot.wheelbase, robot.wheelbase); + nh->get_parameter_or(name + "." + "cmd_angle_instead_rotvel", robot.cmd_angle_instead_rotvel, robot.cmd_angle_instead_rotvel); + nh->get_parameter_or(name + "." + "is_footprint_dynamic", robot.is_footprint_dynamic, robot.is_footprint_dynamic); + + // GoalTolerance + nh->get_parameter_or(name + "." + "free_goal_vel", goal_tolerance.free_goal_vel, goal_tolerance.free_goal_vel); + + // Obstacles + nh->get_parameter_or(name + "." + "min_obstacle_dist", obstacles.min_obstacle_dist, obstacles.min_obstacle_dist); + nh->get_parameter_or(name + "." + "inflation_dist", obstacles.inflation_dist, obstacles.inflation_dist); + nh->get_parameter_or(name + "." + "dynamic_obstacle_inflation_dist", obstacles.dynamic_obstacle_inflation_dist, obstacles.dynamic_obstacle_inflation_dist); + nh->get_parameter_or(name + "." + "include_dynamic_obstacles", obstacles.include_dynamic_obstacles, obstacles.include_dynamic_obstacles); + nh->get_parameter_or(name + "." + "include_costmap_obstacles", obstacles.include_costmap_obstacles, obstacles.include_costmap_obstacles); + nh->get_parameter_or(name + "." + "costmap_obstacles_behind_robot_dist", obstacles.costmap_obstacles_behind_robot_dist, obstacles.costmap_obstacles_behind_robot_dist); + nh->get_parameter_or(name + "." + "obstacle_poses_affected", obstacles.obstacle_poses_affected, obstacles.obstacle_poses_affected); + nh->get_parameter_or(name + "." + "legacy_obstacle_association", obstacles.legacy_obstacle_association, obstacles.legacy_obstacle_association); + nh->get_parameter_or(name + "." + "obstacle_association_force_inclusion_factor", obstacles.obstacle_association_force_inclusion_factor, obstacles.obstacle_association_force_inclusion_factor); + nh->get_parameter_or(name + "." + "obstacle_association_cutoff_factor", obstacles.obstacle_association_cutoff_factor, obstacles.obstacle_association_cutoff_factor); + nh->get_parameter_or(name + "." + "costmap_converter_plugin", obstacles.costmap_converter_plugin, obstacles.costmap_converter_plugin); + nh->get_parameter_or(name + "." + "costmap_converter_spin_thread", obstacles.costmap_converter_spin_thread, obstacles.costmap_converter_spin_thread); + nh->get_parameter_or(name + "." + "obstacle_proximity_ratio_max_vel", obstacles.obstacle_proximity_ratio_max_vel, obstacles.obstacle_proximity_ratio_max_vel); + nh->get_parameter_or(name + "." + "obstacle_proximity_lower_bound", obstacles.obstacle_proximity_lower_bound, obstacles.obstacle_proximity_lower_bound); + nh->get_parameter_or(name + "." + "obstacle_proximity_upper_bound", obstacles.obstacle_proximity_upper_bound, obstacles.obstacle_proximity_upper_bound); + + // Optimization + nh->get_parameter_or(name + "." + "no_inner_iterations", optim.no_inner_iterations, optim.no_inner_iterations); + nh->get_parameter_or(name + "." + "no_outer_iterations", optim.no_outer_iterations, optim.no_outer_iterations); + nh->get_parameter_or(name + "." + "optimization_activate", optim.optimization_activate, optim.optimization_activate); + nh->get_parameter_or(name + "." + "optimization_verbose", optim.optimization_verbose, optim.optimization_verbose); + nh->get_parameter_or(name + "." + "penalty_epsilon", optim.penalty_epsilon, optim.penalty_epsilon); + nh->get_parameter_or(name + "." + "weight_max_vel_x", optim.weight_max_vel_x, optim.weight_max_vel_x); + nh->get_parameter_or(name + "." + "weight_max_vel_y", optim.weight_max_vel_y, optim.weight_max_vel_y); + nh->get_parameter_or(name + "." + "weight_max_vel_theta", optim.weight_max_vel_theta, optim.weight_max_vel_theta); + nh->get_parameter_or(name + "." + "weight_acc_lim_x", optim.weight_acc_lim_x, optim.weight_acc_lim_x); + nh->get_parameter_or(name + "." + "weight_acc_lim_y", optim.weight_acc_lim_y, optim.weight_acc_lim_y); + nh->get_parameter_or(name + "." + "weight_acc_lim_theta", optim.weight_acc_lim_theta, optim.weight_acc_lim_theta); + nh->get_parameter_or(name + "." + "weight_kinematics_nh", optim.weight_kinematics_nh, optim.weight_kinematics_nh); + nh->get_parameter_or(name + "." + "weight_kinematics_forward_drive", optim.weight_kinematics_forward_drive, optim.weight_kinematics_forward_drive); + nh->get_parameter_or(name + "." + "weight_kinematics_turning_radius", optim.weight_kinematics_turning_radius, optim.weight_kinematics_turning_radius); + nh->get_parameter_or(name + "." + "weight_optimaltime", optim.weight_optimaltime, optim.weight_optimaltime); + nh->get_parameter_or(name + "." + "weight_shortest_path", optim.weight_shortest_path, optim.weight_shortest_path); + nh->get_parameter_or(name + "." + "weight_obstacle", optim.weight_obstacle, optim.weight_obstacle); + nh->get_parameter_or(name + "." + "weight_inflation", optim.weight_inflation, optim.weight_inflation); + nh->get_parameter_or(name + "." + "weight_dynamic_obstacle", optim.weight_dynamic_obstacle, optim.weight_dynamic_obstacle); + nh->get_parameter_or(name + "." + "weight_dynamic_obstacle_inflation", optim.weight_dynamic_obstacle_inflation, optim.weight_dynamic_obstacle_inflation); + nh->get_parameter_or(name + "." + "weight_viapoint", optim.weight_viapoint, optim.weight_viapoint); + nh->get_parameter_or(name + "." + "weight_prefer_rotdir", optim.weight_prefer_rotdir, optim.weight_prefer_rotdir); + nh->get_parameter_or(name + "." + "weight_adapt_factor", optim.weight_adapt_factor, optim.weight_adapt_factor); + nh->get_parameter_or(name + "." + "obstacle_cost_exponent", optim.obstacle_cost_exponent, optim.obstacle_cost_exponent); + nh->get_parameter_or(name + "." + "weight_velocity_obstacle_ratio", optim.weight_velocity_obstacle_ratio, optim.weight_velocity_obstacle_ratio); + + // Homotopy Class Planner + nh->get_parameter_or(name + "." + "enable_homotopy_class_planning", hcp.enable_homotopy_class_planning, hcp.enable_homotopy_class_planning); + nh->get_parameter_or(name + "." + "enable_multithreading", hcp.enable_multithreading, hcp.enable_multithreading); + nh->get_parameter_or(name + "." + "simple_exploration", hcp.simple_exploration, hcp.simple_exploration); + nh->get_parameter_or(name + "." + "max_number_classes", hcp.max_number_classes, hcp.max_number_classes); + nh->get_parameter_or(name + "." + "selection_obst_cost_scale", hcp.selection_obst_cost_scale, hcp.selection_obst_cost_scale); + nh->get_parameter_or(name + "." + "selection_prefer_initial_plan", hcp.selection_prefer_initial_plan, hcp.selection_prefer_initial_plan); + nh->get_parameter_or(name + "." + "selection_viapoint_cost_scale", hcp.selection_viapoint_cost_scale, hcp.selection_viapoint_cost_scale); + nh->get_parameter_or(name + "." + "selection_cost_hysteresis", hcp.selection_cost_hysteresis, hcp.selection_cost_hysteresis); + nh->get_parameter_or(name + "." + "selection_alternative_time_cost", hcp.selection_alternative_time_cost, hcp.selection_alternative_time_cost); + nh->get_parameter_or(name + "." + "switching_blocking_period", hcp.switching_blocking_period, hcp.switching_blocking_period); + nh->get_parameter_or(name + "." + "roadmap_graph_samples", hcp.roadmap_graph_no_samples, hcp.roadmap_graph_no_samples); + nh->get_parameter_or(name + "." + "roadmap_graph_area_width", hcp.roadmap_graph_area_width, hcp.roadmap_graph_area_width); + nh->get_parameter_or(name + "." + "roadmap_graph_area_length_scale", hcp.roadmap_graph_area_length_scale, hcp.roadmap_graph_area_length_scale); + nh->get_parameter_or(name + "." + "h_signature_prescaler", hcp.h_signature_prescaler, hcp.h_signature_prescaler); + nh->get_parameter_or(name + "." + "h_signature_threshold", hcp.h_signature_threshold, hcp.h_signature_threshold); + nh->get_parameter_or(name + "." + "obstacle_keypoint_offset", hcp.obstacle_keypoint_offset, hcp.obstacle_keypoint_offset); + nh->get_parameter_or(name + "." + "obstacle_heading_threshold", hcp.obstacle_heading_threshold, hcp.obstacle_heading_threshold); + nh->get_parameter_or(name + "." + "viapoints_all_candidates", hcp.viapoints_all_candidates, hcp.viapoints_all_candidates); + nh->get_parameter_or(name + "." + "visualize_hc_graph", hcp.visualize_hc_graph, hcp.visualize_hc_graph); + nh->get_parameter_or(name + "." + "visualize_with_time_as_z_axis_scale", hcp.visualize_with_time_as_z_axis_scale, hcp.visualize_with_time_as_z_axis_scale); + nh->get_parameter_or(name + "." + "delete_detours_backwards", hcp.delete_detours_backwards, hcp.delete_detours_backwards); + nh->get_parameter_or(name + "." + "detours_orientation_tolerance", hcp.detours_orientation_tolerance, hcp.detours_orientation_tolerance); + nh->get_parameter_or(name + "." + "length_start_orientation_vector", hcp.length_start_orientation_vector, hcp.length_start_orientation_vector); + nh->get_parameter_or(name + "." + "max_ratio_detours_duration_best_duration", hcp.max_ratio_detours_duration_best_duration, hcp.max_ratio_detours_duration_best_duration); + nh->get_parameter_or(name + "." + "selection_dropping_probability", hcp.selection_dropping_probability, hcp.selection_dropping_probability); + + // Recovery + nh->get_parameter_or(name + "." + "shrink_horizon_backup", recovery.shrink_horizon_backup, recovery.shrink_horizon_backup); + nh->get_parameter_or(name + "." + "shrink_horizon_min_duration", recovery.shrink_horizon_min_duration, recovery.shrink_horizon_min_duration); + nh->get_parameter_or(name + "." + "oscillation_recovery", recovery.oscillation_recovery, recovery.oscillation_recovery); + nh->get_parameter_or(name + "." + "oscillation_v_eps", recovery.oscillation_v_eps, recovery.oscillation_v_eps); + nh->get_parameter_or(name + "." + "oscillation_omega_eps", recovery.oscillation_omega_eps, recovery.oscillation_omega_eps); + nh->get_parameter_or(name + "." + "oscillation_recovery_min_duration", recovery.oscillation_recovery_min_duration, recovery.oscillation_recovery_min_duration); + nh->get_parameter_or(name + "." + "oscillation_filter_duration", recovery.oscillation_filter_duration, recovery.oscillation_filter_duration); + nh->get_parameter_or(name + "." + "divergence_detection_enable", recovery.divergence_detection_enable, recovery.divergence_detection_enable); + nh->get_parameter_or(name + "." + "divergence_detection_max_chi_squared", recovery.divergence_detection_max_chi_squared, recovery.divergence_detection_max_chi_squared); + + // footprint model + if (!nh->get_parameter(name + "." + "footprint_model.type", model_name)) + { + RCLCPP_INFO(logger_, "No robot footprint model specified for trajectory optimization. Using point-shaped model."); + robot_model = std::make_shared(); + } + + // point + else if (model_name.compare("point") == 0) + { + RCLCPP_INFO(logger_, "Footprint model 'point' loaded for trajectory optimization."); + robot_model = std::make_shared(); + } + + // circular + else if (model_name.compare("circular") == 0) + { + declare_parameter_if_not_declared(nh, name + "." + "footprint_model.radius", rclcpp::ParameterType::PARAMETER_DOUBLE); + // get radius + double radius; + if (!nh->get_parameter(name + "." + "footprint_model.radius", radius)) + { + RCLCPP_ERROR(logger_, + "Footprint model 'circular' cannot be loaded for trajectory optimization, since param '%s.footprint_model.radius' does not exist. Using point-model instead.", + nh->get_namespace()); + + robot_model = std::make_shared(); + } + RCLCPP_INFO(logger_, "Footprint model 'circular' (radius: %fm) loaded for trajectory optimization.", radius); + robot_model = std::make_shared(radius); + } + + + // line + else if (model_name.compare("line") == 0) + { + declare_parameter_if_not_declared(nh, name + "." + "footprint_model.line_start", rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY); + declare_parameter_if_not_declared(nh, name + "." + "footprint_model.line_end", rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY); + std::vector line_start, line_end; + // check parameters + if (!nh->get_parameter(name + "." + "footprint_model.line_start", line_start) || !nh->get_parameter(name + "." + "footprint_model.line_end", line_end)) + { + RCLCPP_ERROR(logger_, + "Footprint model 'line' cannot be loaded for trajectory optimization, since param '%s.footprint_model.line_start' and/or '.../line_end' do not exist. Using point-model instead.", + nh->get_namespace()); + robot_model = std::make_shared(); + } + if (line_start.size() != 2 || line_end.size() != 2) + { + RCLCPP_ERROR(logger_, "Footprint model 'line' cannot be loaded for trajectory optimization, since param '%s.footprint_model.line_start' and/or '.../line_end' do not contain x and y coordinates (2D). Using point-model instead.", + nh->get_namespace()); + robot_model = std::make_shared(); + } + + RCLCPP_INFO(logger_, + "Footprint model 'line' (line_start: [%f,%f]m, line_end: [%f,%f]m) loaded for trajectory optimization.", + line_start[0], line_start[1], line_end[0], line_end[1]); + + robot_model = std::make_shared(Eigen::Map(line_start.data()), Eigen::Map(line_end.data())); + } + + // two circles + else if (model_name.compare("two_circles") == 0) + { + rclcpp::Parameter dummy; + declare_parameter_if_not_declared(nh, name + "." + "footprint_model.front_offset", rclcpp::ParameterType::PARAMETER_DOUBLE); + declare_parameter_if_not_declared(nh, name + "." + "footprint_model.front_radius", rclcpp::ParameterType::PARAMETER_DOUBLE); + declare_parameter_if_not_declared(nh, name + "." + "footprint_model.rear_offset", rclcpp::ParameterType::PARAMETER_DOUBLE); + declare_parameter_if_not_declared(nh, name + "." + "footprint_model.rear_radius", rclcpp::ParameterType::PARAMETER_DOUBLE); + // check parameters + if (!nh->get_parameter(name + "." + "footprint_model.front_offset", dummy) || !nh->get_parameter(name + "." + "footprint_model.front_radius", dummy) + || !nh->get_parameter(name + "." + "footprint_model.rear_offset", dummy) || !nh->get_parameter(name + "." + "footprint_model.rear_radius", dummy)) + { + RCLCPP_ERROR(logger_, + "Footprint model 'two_circles' cannot be loaded for trajectory optimization, since params '%s.footprint_model.front_offset', '.../front_radius', '.../rear_offset' and '.../rear_radius' do not exist. Using point-model instead.", + nh->get_namespace()); + robot_model = std::make_shared(); + } + double front_offset, front_radius, rear_offset, rear_radius; + nh->get_parameter(name + "." + "footprint_model.front_offset", front_offset); + nh->get_parameter(name + "." + "footprint_model.front_radius", front_radius); + nh->get_parameter(name + "." + "footprint_model.rear_offset", rear_offset); + nh->get_parameter(name + "." + "footprint_model.rear_radius", rear_radius); + RCLCPP_INFO(logger_, + "Footprint model 'two_circles' (front_offset: %fm, front_radius: %fm, rear_offset: %fm, rear_radius: %fm) loaded for trajectory optimization.", + front_offset, front_radius, rear_offset, rear_radius); + + robot_model = std::make_shared(front_offset, front_radius, rear_offset, rear_radius); + } + + // polygon + else if (model_name.compare("polygon") == 0) + { + declare_parameter_if_not_declared(nh, name + "." + "footprint_model.vertices", rclcpp::ParameterType::PARAMETER_STRING); + // check parameters + std::string footprint_string; + if (!nh->get_parameter(name + "." + "footprint_model.vertices", footprint_string) ) + { + RCLCPP_ERROR(logger_, + "Footprint model 'polygon' cannot be loaded for trajectory optimization, since param '%s.footprint_model.vertices' does not exist. Using point-model instead.", + nh->get_namespace()); + + robot_model = std::make_shared(); + } + + std::vector footprint; + // get vertices + if (nav2_costmap_2d::makeFootprintFromString(footprint_string, footprint)) + { + Point2dContainer polygon; + for(const auto &pt : footprint) { + polygon.push_back(Eigen::Vector2d(pt.x, pt.y)); + } + RCLCPP_INFO(logger_, "Footprint model 'polygon' loaded for trajectory optimization."); + robot_model = std::make_shared(polygon); + } + else + { + RCLCPP_ERROR(logger_, + "Footprint model 'polygon' cannot be loaded for trajectory optimization, since param '%s.footprint_model.vertices' does not define an array of coordinates. Using point-model instead.", + nh->get_namespace()); + robot_model = std::make_shared(); + } + + } + // otherwise + else + { + RCLCPP_WARN(logger_, "Unknown robot footprint model specified with parameter '%s.footprint_model.type'. Using point model instead.", + nh->get_namespace()); + robot_model = std::make_shared(); + } + + + checkParameters(); + checkDeprecated(nh, name); +} + +rcl_interfaces::msg::SetParametersResult + TebConfig::dynamicParametersCallback(std::vector parameters) +{ + auto result = rcl_interfaces::msg::SetParametersResult(); + std::lock_guard l(config_mutex_); + + bool reload_footprint = false; + + for (auto parameter : parameters) { + const auto & type = parameter.get_type(); + const auto & name = parameter.get_name(); + + if (type == rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE) { + // Trajectory + if (name == node_name + ".teb_autosize") { + trajectory.teb_autosize = parameter.as_double(); + } else if (name == node_name + ".dt_ref") { + trajectory.dt_ref = parameter.as_double(); + } else if (name == node_name + ".dt_hysteresis") { + trajectory.dt_hysteresis = parameter.as_double(); + } else if (name == node_name + ".global_plan_viapoint_sep") { + trajectory.global_plan_viapoint_sep = parameter.as_double(); + } else if (name == node_name + ".max_global_plan_lookahead_dist") { + trajectory.max_global_plan_lookahead_dist = parameter.as_double(); + } else if (name == node_name + ".global_plan_prune_distance") { + trajectory.global_plan_prune_distance = parameter.as_double(); + } else if (name == node_name + ".force_reinit_new_goal_dist") { + trajectory.force_reinit_new_goal_dist = parameter.as_double(); + } else if (name == node_name + ".force_reinit_new_goal_angular") { + trajectory.force_reinit_new_goal_angular = parameter.as_double(); + } else if (name == node_name + ".min_resolution_collision_check_angular") { + trajectory.min_resolution_collision_check_angular = parameter.as_double(); + } else if (name == node_name + ".feasibility_check_lookahead_distance") { + trajectory.feasibility_check_lookahead_distance = parameter.as_double(); + } + // Robot + else if (name == node_name + ".max_vel_x") { + robot.max_vel_x = parameter.as_double(); + robot.base_max_vel_x = parameter.as_double(); + } else if (name == node_name + ".max_vel_x_backwards") { + robot.max_vel_x_backwards = parameter.as_double(); + robot.base_max_vel_x_backwards = parameter.as_double(); + } else if (name == node_name + ".max_vel_y") { + robot.max_vel_y = parameter.as_double(); + robot.base_max_vel_y = parameter.as_double(); + } else if (name == node_name + ".max_vel_theta") { + robot.max_vel_theta = parameter.as_double(); + robot.base_max_vel_theta = parameter.as_double(); + } else if (name == node_name + ".acc_lim_x") { + robot.acc_lim_x = parameter.as_double(); + } else if (name == node_name + ".acc_lim_y") { + robot.acc_lim_y = parameter.as_double(); + } else if (name == node_name + ".acc_lim_theta") { + robot.acc_lim_theta = parameter.as_double(); + } else if (name == node_name + ".min_turning_radius") { + robot.min_turning_radius = parameter.as_double(); + } else if (name == node_name + ".wheelbase") { + robot.wheelbase = parameter.as_double(); + } + // GoalTolerance + // Obstacles + else if (name == node_name + ".min_obstacle_dist") { + obstacles.min_obstacle_dist = parameter.as_double(); + } else if (name == node_name + ".inflation_dist") { + obstacles.inflation_dist = parameter.as_double(); + } else if (name == node_name + ".dynamic_obstacle_inflation_dist") { + obstacles.dynamic_obstacle_inflation_dist = parameter.as_double(); + } else if (name == node_name + ".costmap_obstacles_behind_robot_dist") { + obstacles.costmap_obstacles_behind_robot_dist = parameter.as_double(); + } else if (name == node_name + ".obstacle_association_force_inclusion_factor") { + obstacles.obstacle_association_force_inclusion_factor = parameter.as_double(); + } else if (name == node_name + ".obstacle_association_cutoff_factor") { + obstacles.obstacle_association_cutoff_factor = parameter.as_double(); + } else if (name == node_name + ".obstacle_proximity_ratio_max_vel") { + obstacles.obstacle_proximity_ratio_max_vel = parameter.as_double(); + } else if (name == node_name + ".obstacle_proximity_lower_bound") { + obstacles.obstacle_proximity_lower_bound = parameter.as_double(); + } else if (name == node_name + ".obstacle_proximity_upper_bound") { + obstacles.obstacle_proximity_upper_bound = parameter.as_double(); + } + // Optimization + else if (name == node_name + ".penalty_epsilon") { + optim.penalty_epsilon = parameter.as_double(); + } else if (name == node_name + ".weight_max_vel_x") { + optim.weight_max_vel_x = parameter.as_double(); + } else if (name == node_name + ".weight_max_vel_y") { + optim.weight_max_vel_y = parameter.as_double(); + } else if (name == node_name + ".weight_max_vel_theta") { + optim.weight_max_vel_theta = parameter.as_double(); + } else if (name == node_name + ".weight_acc_lim_x") { + optim.weight_acc_lim_x = parameter.as_double(); + } else if (name == node_name + ".weight_acc_lim_y") { + optim.weight_acc_lim_y = parameter.as_double(); + } else if (name == node_name + ".weight_acc_lim_theta") { + optim.weight_acc_lim_theta = parameter.as_double(); + } else if (name == node_name + ".weight_kinematics_nh") { + optim.weight_kinematics_nh = parameter.as_double(); + } else if (name == node_name + ".weight_kinematics_forward_drive") { + optim.weight_kinematics_forward_drive = parameter.as_double(); + } else if (name == node_name + ".weight_kinematics_turning_radius") { + optim.weight_kinematics_turning_radius = parameter.as_double(); + } else if (name == node_name + ".weight_optimaltime") { + optim.weight_optimaltime = parameter.as_double(); + } else if (name == node_name + ".weight_shortest_path") { + optim.weight_shortest_path = parameter.as_double(); + } else if (name == node_name + ".weight_obstacle") { + optim.weight_obstacle = parameter.as_double(); + } else if (name == node_name + ".weight_inflation") { + optim.weight_inflation = parameter.as_double(); + } else if (name == node_name + ".weight_dynamic_obstacle") { + optim.weight_dynamic_obstacle = parameter.as_double(); + } else if (name == node_name + ".weight_dynamic_obstacle_inflation") { + optim.weight_dynamic_obstacle_inflation = parameter.as_double(); + } else if (name == node_name + ".weight_viapoint") { + optim.weight_viapoint = parameter.as_double(); + } else if (name == node_name + ".weight_prefer_rotdir") { + optim.weight_prefer_rotdir = parameter.as_double(); + } else if (name == node_name + ".weight_adapt_factor") { + optim.weight_adapt_factor = parameter.as_double(); + } else if (name == node_name + ".obstacle_cost_exponent") { + optim.obstacle_cost_exponent = parameter.as_double(); + } + // Homotopy Class Planner + else if (name == node_name + ".selection_cost_hysteresis") { + hcp.selection_cost_hysteresis = parameter.as_double(); + } else if (name == node_name + ".selection_prefer_initial_plan") { + hcp.selection_prefer_initial_plan = parameter.as_double(); + } else if (name == node_name + ".selection_obst_cost_scale") { + hcp.selection_obst_cost_scale = parameter.as_double(); + } else if (name == node_name + ".selection_viapoint_cost_scale") { + hcp.selection_viapoint_cost_scale = parameter.as_double(); + } else if (name == node_name + ".switching_blocking_period") { + hcp.switching_blocking_period = parameter.as_double(); + } else if (name == node_name + ".roadmap_graph_area_width") { + hcp.roadmap_graph_area_width = parameter.as_double(); + } else if (name == node_name + ".roadmap_graph_area_length_scale") { + hcp.roadmap_graph_area_length_scale = parameter.as_double(); + } else if (name == node_name + ".h_signature_prescaler") { + hcp.h_signature_prescaler = parameter.as_double(); + } else if (name == node_name + ".h_signature_threshold") { + hcp.h_signature_threshold = parameter.as_double(); + } else if (name == node_name + ".obstacle_keypoint_offset") { + hcp.obstacle_keypoint_offset = parameter.as_double(); + } else if (name == node_name + ".obstacle_heading_threshold") { + hcp.obstacle_heading_threshold = parameter.as_double(); + } else if (name == node_name + ".visualize_with_time_as_z_axis_scale") { + hcp.visualize_with_time_as_z_axis_scale = parameter.as_double(); + } else if (name == node_name + ".detours_orientation_tolerance") { + hcp.detours_orientation_tolerance = parameter.as_double(); + } else if (name == node_name + ".length_start_orientation_vector") { + hcp.length_start_orientation_vector = parameter.as_double(); + } else if (name == node_name + ".max_ratio_detours_duration_best_duration") { + hcp.max_ratio_detours_duration_best_duration = parameter.as_double(); + } else if (name == node_name + ".selection_dropping_probability") { + hcp.selection_dropping_probability = parameter.as_double(); + } + // Recovery + else if (name == node_name + ".shrink_horizon_min_duration") { + recovery.shrink_horizon_min_duration = parameter.as_double(); + } else if (name == node_name + ".oscillation_v_eps") { + recovery.oscillation_v_eps = parameter.as_double(); + } else if (name == node_name + ".oscillation_omega_eps") { + recovery.oscillation_omega_eps = parameter.as_double(); + } else if (name == node_name + ".oscillation_recovery_min_duration") { + recovery.oscillation_recovery_min_duration = parameter.as_double(); + } else if (name == node_name + ".oscillation_filter_duration") { + recovery.oscillation_filter_duration = parameter.as_double(); + } else if (name == node_name + ".divergence_detection_max_chi_squared") { + recovery.divergence_detection_max_chi_squared = parameter.as_double(); + } + // Footprint model + else if (name == node_name + ".footprint_model.radius") { + reload_footprint = true; + radius = parameter.as_double(); + } else if (name == node_name + ".footprint_model.front_offset") { + reload_footprint = true; + front_offset = parameter.as_double(); + } else if (name == node_name + ".footprint_model.front_radius") { + reload_footprint = true; + front_radius = parameter.as_double(); + } else if (name == node_name + ".footprint_model.rear_offset") { + reload_footprint = true; + rear_offset = parameter.as_double(); + } else if (name == node_name + ".footprint_model.rear_radius") { + reload_footprint = true; + rear_radius = parameter.as_double(); + } + } + + else if (type == rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY) { + if (name == node_name + ".footprint_model.line_start") { + reload_footprint = true; + line_start = parameter.as_double_array(); + } else if (name == node_name + ".footprint_model.line_end") { + reload_footprint = true; + line_end = parameter.as_double_array(); + } + } + + else if (type == rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER) { + // Trajectory + if (name == node_name + ".min_samples") { + trajectory.min_samples = parameter.as_int(); + } else if (name == node_name + ".max_samples") { + trajectory.max_samples = parameter.as_int(); + } else if (name == node_name + ".feasibility_check_no_poses") { + trajectory.feasibility_check_no_poses = parameter.as_int(); + } else if (name == node_name + ".control_look_ahead_poses") { + trajectory.control_look_ahead_poses = parameter.as_int(); + } + // Robot + // GoalTolerance + // Obstacles + else if (name == node_name + ".obstacle_poses_affected") { + obstacles.obstacle_poses_affected = parameter.as_int(); + } else if (name == node_name + ".costmap_converter_rate") { + obstacles.costmap_converter_rate = parameter.as_int(); + } + // Optimization + else if (name == node_name + ".no_inner_iterations") { + optim.no_inner_iterations = parameter.as_int(); + } else if (name == node_name + ".no_outer_iterations") { + optim.no_outer_iterations = parameter.as_int(); + } + // Homotopy Class Planner + else if (name == node_name + ".max_number_classes") { + hcp.max_number_classes = parameter.as_int(); + } else if (name == node_name + ".roadmap_graph_no_samples") { + hcp.roadmap_graph_no_samples = parameter.as_int(); + } + // Recovery + } + + else if (type == rcl_interfaces::msg::ParameterType::PARAMETER_BOOL) { + // Trajectory + if (name == node_name + ".global_plan_overwrite_orientation") { + trajectory.global_plan_overwrite_orientation = parameter.as_bool(); + } else if (name == node_name + ".allow_init_with_backwards_motion") { + trajectory.allow_init_with_backwards_motion = parameter.as_bool(); + } else if (name == node_name + ".via_points_ordered") { + trajectory.via_points_ordered = parameter.as_bool(); + } else if (name == node_name + ".exact_arc_length") { + trajectory.exact_arc_length = parameter.as_bool(); + } else if (name == node_name + ".publish_feedback") { + trajectory.publish_feedback = parameter.as_bool(); + } + // Robot + else if (name == node_name + ".cmd_angle_instead_rotvel") { + robot.cmd_angle_instead_rotvel = parameter.as_bool(); + } else if (name == node_name + ".is_footprint_dynamic") { + robot.is_footprint_dynamic = parameter.as_bool(); + } + // GoalTolerance + else if (name == node_name + ".free_goal_vel") { + goal_tolerance.free_goal_vel = parameter.as_bool(); + } + // Obstacles + else if (name == node_name + ".include_dynamic_obstacles") { + obstacles.include_dynamic_obstacles = parameter.as_bool(); + } else if (name == node_name + ".include_costmap_obstacles") { + obstacles.include_costmap_obstacles = parameter.as_bool(); + } else if (name == node_name + ".legacy_obstacle_association") { + obstacles.legacy_obstacle_association = parameter.as_bool(); + } else if (name == node_name + ".costmap_converter_spin_thread") { + obstacles.costmap_converter_spin_thread = parameter.as_bool(); + } + // Optimization + else if (name == node_name + ".optimization_activate") { + optim.optimization_activate = parameter.as_bool(); + } else if (name == node_name + ".optimization_verbose") { + optim.optimization_verbose = parameter.as_bool(); + } + // Homotopy Class Planner + else if (name == node_name + ".enable_homotopy_class_planning") { + hcp.enable_homotopy_class_planning = parameter.as_bool(); + } else if (name == node_name + ".enable_multithreading") { + hcp.enable_multithreading = parameter.as_bool(); + } else if (name == node_name + ".simple_exploration") { + hcp.simple_exploration = parameter.as_bool(); + } else if (name == node_name + ".selection_alternative_time_cost") { + hcp.selection_alternative_time_cost = parameter.as_bool(); + } else if (name == node_name + ".viapoints_all_candidates") { + hcp.viapoints_all_candidates = parameter.as_bool(); + } else if (name == node_name + ".visualize_hc_graph") { + hcp.visualize_hc_graph = parameter.as_bool(); + } else if (name == node_name + ".delete_detours_backwards") { + hcp.delete_detours_backwards = parameter.as_bool(); + } + // Recovery + else if (name == node_name + ".shrink_horizon_backup") { + recovery.shrink_horizon_backup = parameter.as_bool(); + } else if (name == node_name + ".oscillation_recovery") { + recovery.oscillation_recovery = parameter.as_bool(); + } else if (name == node_name + ".divergence_detection_enable") { + recovery.divergence_detection_enable = parameter.as_bool(); + } + } + + else if (type == rcl_interfaces::msg::ParameterType::PARAMETER_STRING) { + // Trajectory + // Robot + // GoalTolerance + // Obstacles + if (name == node_name + ".costmap_converter_plugin") { + obstacles.costmap_converter_plugin = parameter.as_string(); + } + // Optimization + // Homotopy Class Planner + // Recovery + // Footprint model + else if (name == node_name + ".footprint_model.type") { + RCLCPP_WARN(logger_, "Changing footprint model type is not allowed at runtime"); + } else if (name == node_name + ".footprint_model.vertices") { + reload_footprint = true; + footprint_string = parameter.as_string(); + } + } + } + checkParameters(); + + if (reload_footprint) { + if (model_name.compare("circular") == 0) + { + RCLCPP_INFO(logger_, "Footprint model 'circular' (radius: %fm) reloaded for trajectory optimization.", radius); + robot_model = std::make_shared(radius); + } + else if (model_name.compare("line") == 0) { + if (line_start.size() != 2 || line_end.size() != 2) + { + RCLCPP_ERROR(logger_, "Footprint model 'line' cannot be reloaded for trajectory optimization"); + } else { + RCLCPP_INFO(logger_, + "Footprint model 'line' (line_start: [%f,%f]m, line_end: [%f,%f]m) reloaded for trajectory optimization.", + line_start[0], line_start[1], line_end[0], line_end[1]); + + robot_model = std::make_shared(Eigen::Map(line_start.data()), Eigen::Map(line_end.data())); + } + } + else if (model_name.compare("two_circles") == 0) { + RCLCPP_INFO(logger_, + "Footprint model 'two_circles' (front_offset: %fm, front_radius: %fm, rear_offset: %fm, rear_radius: %fm) loaded for trajectory optimization.", + front_offset, front_radius, rear_offset, rear_radius); + + robot_model = std::make_shared(front_offset, front_radius, rear_offset, rear_radius); + } + else if (model_name.compare("polygon") == 0) + { + std::vector footprint; + // get vertices + if (nav2_costmap_2d::makeFootprintFromString(footprint_string, footprint)) + { + Point2dContainer polygon; + for(const auto &pt : footprint) { + polygon.push_back(Eigen::Vector2d(pt.x, pt.y)); + } + RCLCPP_INFO(logger_, "Footprint model 'polygon' reloaded for trajectory optimization."); + robot_model = std::make_shared(polygon); + } + else + { + RCLCPP_ERROR(logger_, + "Footprint model 'polygon' cannot be reloaded for trajectory optimization, since param 'footprint_model.vertices' does not define an array of coordinates."); + } + } + } + result.successful = true; + return result; +} + + +void TebConfig::checkParameters() const +{ + //rclcpp::Logger logger_{rclcpp::get_logger("TEBLocalPlanner")}; + // positive backward velocity? + if (robot.max_vel_x_backwards <= 0) + RCLCPP_WARN(logger_, "TebLocalPlannerROS() Param Warning: Do not choose max_vel_x_backwards to be <=0. Disable backwards driving by increasing the optimization weight for penalyzing backwards driving."); + + // bounds smaller than penalty epsilon + if (robot.max_vel_x <= optim.penalty_epsilon) + RCLCPP_WARN(logger_, "TebLocalPlannerROS() Param Warning: max_vel_x <= penalty_epsilon. The resulting bound is negative. Undefined behavior... Change at least one of them!"); + + if (robot.max_vel_x_backwards <= optim.penalty_epsilon) + RCLCPP_WARN(logger_, "TebLocalPlannerROS() Param Warning: max_vel_x_backwards <= penalty_epsilon. The resulting bound is negative. Undefined behavior... Change at least one of them!"); + + if (robot.max_vel_theta <= optim.penalty_epsilon) + RCLCPP_WARN(logger_, "TebLocalPlannerROS() Param Warning: max_vel_theta <= penalty_epsilon. The resulting bound is negative. Undefined behavior... Change at least one of them!"); + + if (robot.acc_lim_x <= optim.penalty_epsilon) + RCLCPP_WARN(logger_, "TebLocalPlannerROS() Param Warning: acc_lim_x <= penalty_epsilon. The resulting bound is negative. Undefined behavior... Change at least one of them!"); + + if (robot.acc_lim_theta <= optim.penalty_epsilon) + RCLCPP_WARN(logger_, "TebLocalPlannerROS() Param Warning: acc_lim_theta <= penalty_epsilon. The resulting bound is negative. Undefined behavior... Change at least one of them!"); + + // dt_ref and dt_hyst + if (trajectory.dt_ref <= trajectory.dt_hysteresis) + RCLCPP_WARN(logger_, "TebLocalPlannerROS() Param Warning: dt_ref <= dt_hysteresis. The hysteresis is not allowed to be greater or equal!. Undefined behavior... Change at least one of them!"); + + // min number of samples + if (trajectory.min_samples <3) + RCLCPP_WARN(logger_, "TebLocalPlannerROS() Param Warning: parameter min_samples is smaller than 3! Sorry, I haven't enough degrees of freedom to plan a trajectory for you. Please increase ..."); + + // costmap obstacle behind robot + if (obstacles.costmap_obstacles_behind_robot_dist < 0) + RCLCPP_WARN(logger_, "TebLocalPlannerROS() Param Warning: parameter 'costmap_obstacles_behind_robot_dist' should be positive or zero."); + + // hcp: obstacle heading threshold + if (hcp.obstacle_keypoint_offset>=1 || hcp.obstacle_keypoint_offset<=0) + RCLCPP_WARN(logger_, "TebLocalPlannerROS() Param Warning: parameter obstacle_heading_threshold must be in the interval ]0,1[. 0=0deg opening angle, 1=90deg opening angle."); + + // carlike + if (robot.cmd_angle_instead_rotvel && robot.wheelbase==0) + RCLCPP_WARN(logger_, "TebLocalPlannerROS() Param Warning: parameter cmd_angle_instead_rotvel is non-zero but wheelbase is set to zero: undesired behavior."); + + if (robot.cmd_angle_instead_rotvel && robot.min_turning_radius==0) + RCLCPP_WARN(logger_, "TebLocalPlannerROS() Param Warning: parameter cmd_angle_instead_rotvel is non-zero but min_turning_radius is set to zero: undesired behavior. You are mixing a carlike and a diffdrive robot"); + + // positive weight_adapt_factor + if (optim.weight_adapt_factor < 1.0) + RCLCPP_WARN(logger_, "TebLocalPlannerROS() Param Warning: parameter weight_adapt_factor shoud be >= 1.0"); + + if (recovery.oscillation_filter_duration < 0) + RCLCPP_WARN(logger_, "TebLocalPlannerROS() Param Warning: parameter oscillation_filter_duration must be >= 0"); + + if (optim.weight_optimaltime <= 0) + RCLCPP_WARN(logger_, "TebLocalPlannerROS() Param Warning: parameter weight_optimaltime shoud be > 0 (even if weight_shortest_path is in use)"); +} + +void TebConfig::checkDeprecated(const nav2_util::LifecycleNode::SharedPtr nh, const std::string name) const +{ + rclcpp::Parameter dummy; + + if (nh->get_parameter(name + "." + "line_obstacle_poses_affected", dummy) || nh->get_parameter(name + "." + "polygon_obstacle_poses_affected", dummy)) + RCLCPP_WARN(logger_, "TebLocalPlannerROS() Param Warning: 'line_obstacle_poses_affected' and 'polygon_obstacle_poses_affected' are deprecated. They share now the common parameter 'obstacle_poses_affected'."); + + if (nh->get_parameter(name + "." + "weight_point_obstacle", dummy) || nh->get_parameter(name + "." + "weight_line_obstacle", dummy) || nh->get_parameter(name + "." + "weight_poly_obstacle", dummy)) + RCLCPP_WARN(logger_, "TebLocalPlannerROS() Param Warning: 'weight_point_obstacle', 'weight_line_obstacle' and 'weight_poly_obstacle' are deprecated. They are replaced by the single param 'weight_obstacle'."); + + if (nh->get_parameter(name + "." + "costmap_obstacles_front_only", dummy)) + RCLCPP_WARN(logger_, "TebLocalPlannerROS() Param Warning: 'costmap_obstacles_front_only' is deprecated. It is replaced by 'costmap_obstacles_behind_robot_dist' to define the actual area taken into account."); + + if (nh->get_parameter(name + "." + "costmap_emergency_stop_dist", dummy)) + RCLCPP_WARN(logger_, "TebLocalPlannerROS() Param Warning: 'costmap_emergency_stop_dist' is deprecated. You can safely remove it from your parameter config."); + + if (nh->get_parameter(name + "." + "alternative_time_cost", dummy)) + RCLCPP_WARN(logger_, "TebLocalPlannerROS() Param Warning: 'alternative_time_cost' is deprecated. It has been replaced by 'selection_alternative_time_cost'."); + + if (nh->get_parameter(name + "." + "global_plan_via_point_sep", dummy)) + RCLCPP_WARN(logger_, "TebLocalPlannerROS() Param Warning: 'global_plan_via_point_sep' is deprecated. It has been replaced by 'global_plan_viapoint_sep' due to consistency reasons."); +} + + +} // namespace teb_local_planner diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/teb_local_planner_ros.cpp b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/teb_local_planner_ros.cpp new file mode 100644 index 0000000..6060d8b --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/teb_local_planner_ros.cpp @@ -0,0 +1,1122 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#include "teb_local_planner/teb_local_planner_ros.h" + +//#include +#include + +#include + +// pluginlib macros +#include + +#include "g2o/core/sparse_optimizer.h" +#include "g2o/core/block_solver.h" +#include "g2o/core/factory.h" +#include "g2o/core/optimization_algorithm_gauss_newton.h" +#include "g2o/core/optimization_algorithm_levenberg.h" +#include "g2o/solvers/csparse/linear_solver_csparse.h" +#include "g2o/solvers/cholmod/linear_solver_cholmod.h" + +#include +#include +#include + +#include +#include + +using nav2_util::declare_parameter_if_not_declared; + +namespace teb_local_planner +{ + + +TebLocalPlannerROS::TebLocalPlannerROS() + : costmap_ros_(nullptr), tf_(nullptr), cfg_(new TebConfig()), costmap_model_(nullptr), intra_proc_node_(nullptr), + costmap_converter_loader_("costmap_converter", "costmap_converter::BaseCostmapToPolygons"), + custom_via_points_active_(false), no_infeasible_plans_(0), + last_preferred_rotdir_(RotType::none), initialized_(false) +{ +} + + +TebLocalPlannerROS::~TebLocalPlannerROS() +{ +} + +void TebLocalPlannerROS::initialize(nav2_util::LifecycleNode::SharedPtr node) +{ + // check if the plugin is already initialized + if(!initialized_) + { + // declare parameters (ros2-dashing) + intra_proc_node_.reset( + new rclcpp::Node("costmap_converter", node->get_namespace(), + rclcpp::NodeOptions())); + cfg_->declareParameters(node, name_); + + // get parameters of TebConfig via the nodehandle and override the default config + cfg_->loadRosParamFromNodeHandle(node, name_); + + // reserve some memory for obstacles + obstacles_.reserve(500); + + // create the planner instance + if (cfg_->hcp.enable_homotopy_class_planning) + { + planner_ = PlannerInterfacePtr(new HomotopyClassPlanner(node, *cfg_.get(), &obstacles_, visualization_, &via_points_)); + RCLCPP_INFO(logger_, "Parallel planning in distinctive topologies enabled."); + } + else + { + planner_ = PlannerInterfacePtr(new TebOptimalPlanner(node, *cfg_.get(), &obstacles_, visualization_, &via_points_)); + RCLCPP_INFO(logger_, "Parallel planning in distinctive topologies disabled."); + } + + // init other variables + costmap_ = costmap_ros_->getCostmap(); // locking should be done in MoveBase. + + costmap_model_ = std::make_shared(); + std::string costmap_model_name("costmap_model"); + costmap_model_->initialize(node, costmap_model_name, name_, costmap_ros_); + + cfg_->map_frame = costmap_ros_->getGlobalFrameID(); // TODO + + //Initialize a costmap to polygon converter + if (!cfg_->obstacles.costmap_converter_plugin.empty()) + { + try + { + costmap_converter_ = costmap_converter_loader_.createSharedInstance(cfg_->obstacles.costmap_converter_plugin); + std::string converter_name = costmap_converter_loader_.getName(cfg_->obstacles.costmap_converter_plugin); + RCLCPP_INFO(logger_, "library path : %s", costmap_converter_loader_.getClassLibraryPath(cfg_->obstacles.costmap_converter_plugin).c_str()); + // replace '::' by '/' to convert the c++ namespace to a NodeHandle namespace + boost::replace_all(converter_name, "::", "/"); + + costmap_converter_->setOdomTopic(cfg_->odom_topic); + costmap_converter_->initialize(intra_proc_node_); + costmap_converter_->setCostmap2D(costmap_); + const auto rate = std::make_shared((double)cfg_->obstacles.costmap_converter_rate); + costmap_converter_->startWorker(rate, costmap_, cfg_->obstacles.costmap_converter_spin_thread); + RCLCPP_INFO(logger_, "Costmap conversion plugin %s loaded.", cfg_->obstacles.costmap_converter_plugin.c_str()); + } + catch(pluginlib::PluginlibException& ex) + { + RCLCPP_INFO(logger_, + "The specified costmap converter plugin cannot be loaded. All occupied costmap cells are treaten as point obstacles. Error message: %s", ex.what()); + costmap_converter_.reset(); + } + } + else { + RCLCPP_INFO(logger_, "No costmap conversion plugin specified. All occupied costmap cells are treaten as point obstacles."); + } + + + // Get footprint of the robot and minimum and maximum distance from the center of the robot to its footprint vertices. + footprint_spec_ = costmap_ros_->getRobotFootprint(); + nav2_costmap_2d::calculateMinAndMaxDistances(footprint_spec_, robot_inscribed_radius_, robot_circumscribed_radius); + + // Add callback for dynamic parameters + dyn_params_handler = node->add_on_set_parameters_callback( + std::bind(&TebConfig::dynamicParametersCallback, std::ref(cfg_), std::placeholders::_1)); + + // validate optimization footprint and costmap footprint + validateFootprints(cfg_->robot_model->getInscribedRadius(), robot_inscribed_radius_, cfg_->obstacles.min_obstacle_dist); + + // setup callback for custom obstacles + custom_obst_sub_ = node->create_subscription( + "obstacles", + rclcpp::SystemDefaultsQoS(), + std::bind(&TebLocalPlannerROS::customObstacleCB, this, std::placeholders::_1)); + + // setup callback for custom via-points + via_points_sub_ = node->create_subscription( + "via_points", + rclcpp::SystemDefaultsQoS(), + std::bind(&TebLocalPlannerROS::customViaPointsCB, this, std::placeholders::_1)); + + // initialize failure detector + //rclcpp::Node::SharedPtr nh_move_base("~"); + double controller_frequency = 5; + node->get_parameter("controller_frequency", controller_frequency); + failure_detector_.setBufferLength(std::round(cfg_->recovery.oscillation_filter_duration*controller_frequency)); + + // set initialized flag + initialized_ = true; + + // This should be called since to prevent different time sources exception + time_last_infeasible_plan_ = clock_->now(); + time_last_oscillation_ = clock_->now(); + RCLCPP_DEBUG(logger_, "teb_local_planner plugin initialized."); + } + else + { + RCLCPP_INFO(logger_, "teb_local_planner has already been initialized, doing nothing."); + } +} + +void TebLocalPlannerROS::configure( + const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent, + std::string name, + std::shared_ptr tf, + std::shared_ptr costmap_ros) { + nh_ = parent; + + auto node = nh_.lock(); + logger_ = node->get_logger(); + clock_ = node->get_clock(); + + costmap_ros_ = costmap_ros; + tf_ = tf; + name_ = name; + + initialize(node); + visualization_ = std::make_shared(node, *cfg_); + visualization_->on_configure(); + planner_->setVisualization(visualization_); + + return; +} + +void TebLocalPlannerROS::setPlan(const nav_msgs::msg::Path & orig_global_plan) +{ + // check if plugin is initialized + if(!initialized_) + { + RCLCPP_ERROR(logger_, "teb_local_planner has not been initialized, please call initialize() before using this planner"); + return; + } + + // store the global plan + global_plan_.clear(); + global_plan_.reserve(orig_global_plan.poses.size()); + for(const auto &in_pose :orig_global_plan.poses) { + geometry_msgs::msg::PoseStamped out_pose; + out_pose.pose = in_pose.pose; + out_pose.header = orig_global_plan.header; + global_plan_.push_back(out_pose); + } + + // we do not clear the local planner here, since setPlan is called frequently whenever the global planner updates the plan. + // the local planner checks whether it is required to reinitialize the trajectory or not within each velocity computation step. + + return; +} + + +geometry_msgs::msg::TwistStamped TebLocalPlannerROS::computeVelocityCommands(const geometry_msgs::msg::PoseStamped &pose, + const geometry_msgs::msg::Twist &velocity, nav2_core::GoalChecker *goal_checker) +{ + // check if plugin initialized + if(!initialized_) + { + throw nav2_core::PlannerException( + std::string("teb_local_planner has not been initialized, please call initialize() before using this planner") + ); + } + geometry_msgs::msg::TwistStamped cmd_vel; + + cmd_vel.header.stamp = clock_->now(); + cmd_vel.header.frame_id = costmap_ros_->getBaseFrameID(); + cmd_vel.twist.linear.x = 0; + cmd_vel.twist.linear.y = 0; + cmd_vel.twist.angular.z = 0; + + // Update for the current goal checker's state + geometry_msgs::msg::Pose pose_tolerance; + geometry_msgs::msg::Twist vel_tolerance; + if (!goal_checker->getTolerances(pose_tolerance, vel_tolerance)) { + RCLCPP_WARN(logger_, "Unable to retrieve goal checker's tolerances!"); + } else { + cfg_->goal_tolerance.xy_goal_tolerance = pose_tolerance.position.x; + } + + // Get robot pose + robot_pose_ = PoseSE2(pose.pose); + geometry_msgs::msg::PoseStamped robot_pose; + robot_pose.header = pose.header; + robot_pose_.toPoseMsg(robot_pose.pose); + + // Get robot velocity + robot_vel_ = velocity; + + // prune global plan to cut off parts of the past (spatially before the robot) + pruneGlobalPlan(robot_pose, global_plan_, cfg_->trajectory.global_plan_prune_distance); + + // Transform global plan to the frame of interest (w.r.t. the local costmap) + std::vector transformed_plan; + int goal_idx; + geometry_msgs::msg::TransformStamped tf_plan_to_global; + if (!transformGlobalPlan(global_plan_, robot_pose, *costmap_, cfg_->map_frame, cfg_->trajectory.max_global_plan_lookahead_dist, + transformed_plan, &goal_idx, &tf_plan_to_global)) + { + throw nav2_core::PlannerException( + std::string("Could not transform the global plan to the frame of the controller") + ); + } + + // update via-points container + if (!custom_via_points_active_) + updateViaPointsContainer(transformed_plan, cfg_->trajectory.global_plan_viapoint_sep); + + // check if we should enter any backup mode and apply settings + configureBackupModes(transformed_plan, goal_idx); + + // Return false if the transformed global plan is empty + if (transformed_plan.empty()) + { + throw nav2_core::PlannerException( + std::string("Transformed plan is empty. Cannot determine a local plan.") + ); + } + + // Get current goal point (last point of the transformed plan) + const geometry_msgs::msg::PoseStamped &goal_point = transformed_plan.back(); + robot_goal_.x() = goal_point.pose.position.x; + robot_goal_.y() = goal_point.pose.position.y; + if (cfg_->trajectory.global_plan_overwrite_orientation) + { + robot_goal_.theta() = estimateLocalGoalOrientation(global_plan_, goal_point, goal_idx, tf_plan_to_global); + // overwrite/update goal orientation of the transformed plan with the actual goal (enable using the plan as initialization) + //transformed_plan.back().pose.orientation = tf::createQuaternionMsgFromYaw(robot_goal_.theta()); + tf2::Quaternion q; + q.setRPY(0, 0, robot_goal_.theta()); + transformed_plan.back().pose.orientation = tf2::toMsg(q); + } + else + { + robot_goal_.theta() = tf2::getYaw(goal_point.pose.orientation); + } + + // overwrite/update start of the transformed plan with the actual robot position (allows using the plan as initial trajectory) + if (transformed_plan.size()==1) // plan only contains the goal + { + transformed_plan.insert(transformed_plan.begin(), geometry_msgs::msg::PoseStamped()); // insert start (not yet initialized) + } + //tf::poseTFToMsg(robot_pose, transformed_plan.front().pose); // update start; + transformed_plan.front().pose = robot_pose.pose; + + // clear currently existing obstacles + obstacles_.clear(); + + // Update obstacle container with costmap information or polygons provided by a costmap_converter plugin + if (costmap_converter_) + updateObstacleContainerWithCostmapConverter(); + else + updateObstacleContainerWithCostmap(); + + // also consider custom obstacles (must be called after other updates, since the container is not cleared) + updateObstacleContainerWithCustomObstacles(); + + + // Do not allow config changes during the following optimization step + std::lock_guard cfg_lock(cfg_->configMutex()); + + // Now perform the actual planning +// bool success = planner_->plan(robot_pose_, robot_goal_, robot_vel_, cfg_->goal_tolerance.free_goal_vel); // straight line init + bool success = planner_->plan(transformed_plan, &robot_vel_, cfg_->goal_tolerance.free_goal_vel); + if (!success) + { + planner_->clearPlanner(); // force reinitialization for next time + + ++no_infeasible_plans_; // increase number of infeasible solutions in a row + time_last_infeasible_plan_ = clock_->now(); + last_cmd_ = cmd_vel.twist; + + throw nav2_core::PlannerException( + std::string("teb_local_planner was not able to obtain a local plan for the current setting.") + ); + } + + // Check for divergence + if (planner_->hasDiverged()) + { + cmd_vel.twist.linear.x = cmd_vel.twist.linear.y = cmd_vel.twist.angular.z = 0; + + // Reset everything to start again with the initialization of new trajectories. + planner_->clearPlanner(); + RCLCPP_WARN_THROTTLE(logger_, *(clock_), 1, "TebLocalPlannerROS: the trajectory has diverged. Resetting planner..."); + + ++no_infeasible_plans_; // increase number of infeasible solutions in a row + time_last_infeasible_plan_ = clock_->now(); + last_cmd_ = cmd_vel.twist; + throw nav2_core::PlannerException( + std::string("TebLocalPlannerROS: velocity command invalid (hasDiverged). Resetting planner...") + ); + } + + // Check feasibility (but within the first few states only) + if(cfg_->robot.is_footprint_dynamic) + { + // Update footprint of the robot and minimum and maximum distance from the center of the robot to its footprint vertices. + std::vector updated_footprint_spec_ = costmap_ros_->getRobotFootprint(); + if (updated_footprint_spec_ != footprint_spec_) { + updated_footprint_spec_ = footprint_spec_; + nav2_costmap_2d::calculateMinAndMaxDistances(updated_footprint_spec_, robot_inscribed_radius_, robot_circumscribed_radius); + } + } + + bool feasible = planner_->isTrajectoryFeasible(costmap_model_.get(), footprint_spec_, robot_inscribed_radius_, robot_circumscribed_radius, cfg_->trajectory.feasibility_check_no_poses, cfg_->trajectory.feasibility_check_lookahead_distance); + if (!feasible) + { + cmd_vel.twist.linear.x = cmd_vel.twist.linear.y = cmd_vel.twist.angular.z = 0; + + // now we reset everything to start again with the initialization of new trajectories. + planner_->clearPlanner(); + + ++no_infeasible_plans_; // increase number of infeasible solutions in a row + time_last_infeasible_plan_ = clock_->now(); + last_cmd_ = cmd_vel.twist; + + throw nav2_core::PlannerException( + std::string("TebLocalPlannerROS: trajectory is not feasible. Resetting planner...") + ); + } + + // Get the velocity command for this sampling interval + if (!planner_->getVelocityCommand(cmd_vel.twist.linear.x, cmd_vel.twist.linear.y, cmd_vel.twist.angular.z, cfg_->trajectory.control_look_ahead_poses)) + { + planner_->clearPlanner(); + ++no_infeasible_plans_; // increase number of infeasible solutions in a row + time_last_infeasible_plan_ = clock_->now(); + last_cmd_ = cmd_vel.twist; + + throw nav2_core::PlannerException( + std::string("TebLocalPlannerROS: velocity command invalid. Resetting planner...") + ); + } + + // Saturate velocity, if the optimization results violates the constraints (could be possible due to soft constraints). + saturateVelocity(cmd_vel.twist.linear.x, cmd_vel.twist.linear.y, cmd_vel.twist.angular.z, cfg_->robot.max_vel_x, cfg_->robot.max_vel_y, + cfg_->robot.max_vel_theta, cfg_->robot.max_vel_x_backwards); + + // convert rot-vel to steering angle if desired (carlike robot). + // The min_turning_radius is allowed to be slighly smaller since it is a soft-constraint + // and opposed to the other constraints not affected by penalty_epsilon. The user might add a safety margin to the parameter itself. + if (cfg_->robot.cmd_angle_instead_rotvel) + { + cmd_vel.twist.angular.z = convertTransRotVelToSteeringAngle(cmd_vel.twist.linear.x, cmd_vel.twist.angular.z, cfg_->robot.wheelbase, 0.95*cfg_->robot.min_turning_radius); + if (!std::isfinite(cmd_vel.twist.angular.z)) + { + cmd_vel.twist.linear.x = cmd_vel.twist.linear.y = cmd_vel.twist.angular.z = 0; + last_cmd_ = cmd_vel.twist; + planner_->clearPlanner(); + + ++no_infeasible_plans_; // increase number of infeasible solutions in a row + time_last_infeasible_plan_ = clock_->now(); + + throw nav2_core::PlannerException( + std::string("TebLocalPlannerROS: Resulting steering angle is not finite. Resetting planner...") + ); + } + } + + // a feasible solution should be found, reset counter + no_infeasible_plans_ = 0; + + // store last command (for recovery analysis etc.) + last_cmd_ = cmd_vel.twist; + + // Now visualize everything + planner_->visualize(); + visualization_->publishObstacles(obstacles_); + visualization_->publishViaPoints(via_points_); + visualization_->publishGlobalPlan(global_plan_); + + return cmd_vel; +} + +void TebLocalPlannerROS::updateObstacleContainerWithCostmap() +{ + // Add costmap obstacles if desired + if (cfg_->obstacles.include_costmap_obstacles) + { + std::lock_guard lock(*costmap_->getMutex()); + + Eigen::Vector2d robot_orient = robot_pose_.orientationUnitVec(); + + for (unsigned int i=0; igetSizeInCellsX()-1; ++i) + { + for (unsigned int j=0; jgetSizeInCellsY()-1; ++j) + { + if (costmap_->getCost(i,j) == nav2_costmap_2d::LETHAL_OBSTACLE) + { + Eigen::Vector2d obs; + costmap_->mapToWorld(i,j,obs.coeffRef(0), obs.coeffRef(1)); + + // check if obstacle is interesting (e.g. not far behind the robot) + Eigen::Vector2d obs_dir = obs-robot_pose_.position(); + if ( obs_dir.dot(robot_orient) < 0 && obs_dir.norm() > cfg_->obstacles.costmap_obstacles_behind_robot_dist ) + continue; + + obstacles_.push_back(ObstaclePtr(new PointObstacle(obs))); + } + } + } + } +} + +void TebLocalPlannerROS::updateObstacleContainerWithCostmapConverter() +{ + if (!costmap_converter_) + return; + + //Get obstacles from costmap converter + costmap_converter::ObstacleArrayConstPtr obstacles = costmap_converter_->getObstacles(); + if (!obstacles) + return; + + for (std::size_t i=0; iobstacles.size(); ++i) + { + const costmap_converter_msgs::msg::ObstacleMsg* obstacle = &obstacles->obstacles.at(i); + const geometry_msgs::msg::Polygon* polygon = &obstacle->polygon; + + if (polygon->points.size()==1 && obstacle->radius > 0) // Circle + { + obstacles_.push_back(ObstaclePtr(new CircularObstacle(polygon->points[0].x, polygon->points[0].y, obstacle->radius))); + } + else if (polygon->points.size()==1) // Point + { + obstacles_.push_back(ObstaclePtr(new PointObstacle(polygon->points[0].x, polygon->points[0].y))); + } + else if (polygon->points.size()==2) // Line + { + obstacles_.push_back(ObstaclePtr(new LineObstacle(polygon->points[0].x, polygon->points[0].y, + polygon->points[1].x, polygon->points[1].y ))); + } + else if (polygon->points.size()>2) // Real polygon + { + PolygonObstacle* polyobst = new PolygonObstacle; + for (std::size_t j=0; jpoints.size(); ++j) + { + polyobst->pushBackVertex(polygon->points[j].x, polygon->points[j].y); + } + polyobst->finalizePolygon(); + obstacles_.push_back(ObstaclePtr(polyobst)); + } + + // Set velocity, if obstacle is moving + if(!obstacles_.empty()) + obstacles_.back()->setCentroidVelocity(obstacles->obstacles[i].velocities, obstacles->obstacles[i].orientation); + } +} + + +void TebLocalPlannerROS::updateObstacleContainerWithCustomObstacles() +{ + // Add custom obstacles obtained via message + std::lock_guard l(custom_obst_mutex_); + + if (!custom_obstacle_msg_.obstacles.empty()) + { + // We only use the global header to specify the obstacle coordinate system instead of individual ones + Eigen::Affine3d obstacle_to_map_eig; + try + { + geometry_msgs::msg::TransformStamped obstacle_to_map = tf_->lookupTransform( + cfg_->map_frame, tf2::timeFromSec(0), + custom_obstacle_msg_.header.frame_id, tf2::timeFromSec(0), + custom_obstacle_msg_.header.frame_id, tf2::durationFromSec(0.5)); + obstacle_to_map_eig = tf2::transformToEigen(obstacle_to_map); + //tf2::fromMsg(obstacle_to_map.transform, obstacle_to_map_eig); + } + catch (tf2::TransformException ex) + { + RCLCPP_ERROR(logger_, "%s",ex.what()); + obstacle_to_map_eig.setIdentity(); + } + + for (size_t i=0; i 0 ) // circle + { + Eigen::Vector3d pos( custom_obstacle_msg_.obstacles.at(i).polygon.points.front().x, + custom_obstacle_msg_.obstacles.at(i).polygon.points.front().y, + custom_obstacle_msg_.obstacles.at(i).polygon.points.front().z ); + obstacles_.push_back(ObstaclePtr(new CircularObstacle( (obstacle_to_map_eig * pos).head(2), custom_obstacle_msg_.obstacles.at(i).radius))); + } + else if (custom_obstacle_msg_.obstacles.at(i).polygon.points.size() == 1 ) // point + { + Eigen::Vector3d pos( custom_obstacle_msg_.obstacles.at(i).polygon.points.front().x, + custom_obstacle_msg_.obstacles.at(i).polygon.points.front().y, + custom_obstacle_msg_.obstacles.at(i).polygon.points.front().z ); + obstacles_.push_back(ObstaclePtr(new PointObstacle( (obstacle_to_map_eig * pos).head(2) ))); + } + else if (custom_obstacle_msg_.obstacles.at(i).polygon.points.size() == 2 ) // line + { + Eigen::Vector3d line_start( custom_obstacle_msg_.obstacles.at(i).polygon.points.front().x, + custom_obstacle_msg_.obstacles.at(i).polygon.points.front().y, + custom_obstacle_msg_.obstacles.at(i).polygon.points.front().z ); + Eigen::Vector3d line_end( custom_obstacle_msg_.obstacles.at(i).polygon.points.back().x, + custom_obstacle_msg_.obstacles.at(i).polygon.points.back().y, + custom_obstacle_msg_.obstacles.at(i).polygon.points.back().z ); + obstacles_.push_back(ObstaclePtr(new LineObstacle( (obstacle_to_map_eig * line_start).head(2), + (obstacle_to_map_eig * line_end).head(2) ))); + } + else if (custom_obstacle_msg_.obstacles.at(i).polygon.points.empty()) + { + RCLCPP_INFO(logger_, "Invalid custom obstacle received. List of polygon vertices is empty. Skipping..."); + continue; + } + else // polygon + { + PolygonObstacle* polyobst = new PolygonObstacle; + for (size_t j=0; jpushBackVertex( (obstacle_to_map_eig * pos).head(2) ); + } + polyobst->finalizePolygon(); + obstacles_.push_back(ObstaclePtr(polyobst)); + } + + // Set velocity, if obstacle is moving + if(!obstacles_.empty()) + obstacles_.back()->setCentroidVelocity(custom_obstacle_msg_.obstacles[i].velocities, custom_obstacle_msg_.obstacles[i].orientation); + } + } +} + +void TebLocalPlannerROS::updateViaPointsContainer(const std::vector& transformed_plan, double min_separation) +{ + via_points_.clear(); + + if (min_separation<=0) + return; + + std::size_t prev_idx = 0; + for (std::size_t i=1; i < transformed_plan.size(); ++i) // skip first one, since we do not need any point before the first min_separation [m] + { + // check separation to the previous via-point inserted + if (distance_points2d( transformed_plan[prev_idx].pose.position, transformed_plan[i].pose.position ) < min_separation) + continue; + + // add via-point + via_points_.push_back( Eigen::Vector2d( transformed_plan[i].pose.position.x, transformed_plan[i].pose.position.y ) ); + prev_idx = i; + } + +} + +//Eigen::Vector2d TebLocalPlannerROS::tfPoseToEigenVector2dTransRot(const tf::Pose& tf_vel) +//{ +// Eigen::Vector2d vel; +// vel.coeffRef(0) = std::sqrt( tf_vel.getOrigin().getX() * tf_vel.getOrigin().getX() + tf_vel.getOrigin().getY() * tf_vel.getOrigin().getY() ); +// vel.coeffRef(1) = tf::getYaw(tf_vel.getRotation()); +// return vel; +//} + + +bool TebLocalPlannerROS::pruneGlobalPlan(const geometry_msgs::msg::PoseStamped& global_pose, std::vector& global_plan, double dist_behind_robot) +{ + if (global_plan.empty()) + return true; + + try + { + // transform robot pose into the plan frame (we do not wait here, since pruning not crucial, if missed a few times) + //geometry_msgs::msg::TransformStamped global_to_plan_transform = tf_->lookupTransform(global_plan.front().header.frame_id, global_pose.header.frame_id, tf2::timeFromSec(0)); + geometry_msgs::msg::PoseStamped robot = tf_->transform( + global_pose, + global_plan.front().header.frame_id); + + //robot.setData( global_to_plan_transform * global_pose ); + + double dist_thresh_sq = dist_behind_robot*dist_behind_robot; + + // iterate plan until a pose close the robot is found + std::vector::iterator it = global_plan.begin(); + std::vector::iterator erase_end = it; + while (it != global_plan.end()) + { + double dx = robot.pose.position.x - it->pose.position.x; + double dy = robot.pose.position.y - it->pose.position.y; + double dist_sq = dx * dx + dy * dy; + if (dist_sq < dist_thresh_sq) + { + erase_end = it; + break; + } + ++it; + } + if (erase_end == global_plan.end()) + return false; + + if (erase_end != global_plan.begin()) + global_plan.erase(global_plan.begin(), erase_end); + } + catch (const tf2::TransformException& ex) + { + RCLCPP_DEBUG(logger_, "Cannot prune path since no transform is available: %s\n", ex.what()); + return false; + } + return true; +} + + +bool TebLocalPlannerROS::transformGlobalPlan(const std::vector& global_plan, + const geometry_msgs::msg::PoseStamped& global_pose, const nav2_costmap_2d::Costmap2D& costmap, const std::string& global_frame, double max_plan_length, + std::vector& transformed_plan, int* current_goal_idx, geometry_msgs::msg::TransformStamped* tf_plan_to_global) const +{ + // this method is a slightly modified version of base_local_planner/goal_functions.h + + const geometry_msgs::msg::PoseStamped& plan_pose = global_plan[0]; + + transformed_plan.clear(); + + try + { + if (global_plan.empty()) + { + RCLCPP_ERROR(logger_, "Received plan with zero length"); + *current_goal_idx = 0; + return false; + } + + // get plan_to_global_transform from plan frame to global_frame + geometry_msgs::msg::TransformStamped plan_to_global_transform = tf_->lookupTransform( + global_frame, tf2_ros::fromMsg(plan_pose.header.stamp), + plan_pose.header.frame_id, tf2::timeFromSec(0), + plan_pose.header.frame_id, tf2::durationFromSec(0.5)); + +// tf_->waitForTransform(global_frame, ros::Time::now(), +// plan_pose.header.frame_id, plan_pose.header.stamp, +// plan_pose.header.frame_id, ros::Duration(0.5)); +// tf_->lookupTransform(global_frame, ros::Time(), +// plan_pose.header.frame_id, plan_pose.header.stamp, +// plan_pose.header.frame_id, plan_to_global_transform); + + //let's get the pose of the robot in the frame of the plan + geometry_msgs::msg::PoseStamped robot_pose = tf_->transform(global_pose, plan_pose.header.frame_id); + + //we'll discard points on the plan that are outside the local costmap + double dist_threshold = std::max(costmap.getSizeInCellsX() * costmap.getResolution() / 2.0, + costmap.getSizeInCellsY() * costmap.getResolution() / 2.0); + dist_threshold *= 0.85; // just consider 85% of the costmap size to better incorporate point obstacle that are + // located on the border of the local costmap + + + int i = 0; + double sq_dist_threshold = dist_threshold * dist_threshold; + double sq_dist = 1e10; + + //we need to loop to a point on the plan that is within a certain distance of the robot + bool robot_reached = false; + for(int j=0; j < (int)global_plan.size(); ++j) + { + double x_diff = robot_pose.pose.position.x - global_plan[j].pose.position.x; + double y_diff = robot_pose.pose.position.y - global_plan[j].pose.position.y; + double new_sq_dist = x_diff * x_diff + y_diff * y_diff; + if (new_sq_dist > sq_dist_threshold) + break; // force stop if we have reached the costmap border + + if (robot_reached && new_sq_dist > sq_dist) + break; + + if (new_sq_dist < sq_dist) // find closest distance + { + sq_dist = new_sq_dist; + i = j; + if (sq_dist < 0.05) // 2.5 cm to the robot; take the immediate local minima; if it's not the global + robot_reached = true; // minima, probably means that there's a loop in the path, and so we prefer this + } + } + + geometry_msgs::msg::PoseStamped newer_pose; + + double plan_length = 0; // check cumulative Euclidean distance along the plan + + //now we'll transform until points are outside of our distance threshold + while(i < (int)global_plan.size() && sq_dist <= sq_dist_threshold && (max_plan_length<=0 || plan_length <= max_plan_length)) + { + //const geometry_msgs::msg::PoseStamped& pose = global_plan[i]; + //tf::poseStampedMsgToTF(pose, tf_pose); + //tf_pose.setData(plan_to_global_transform * tf_pose); + tf2::doTransform(global_plan[i], newer_pose, plan_to_global_transform); + +// tf_pose.stamp_ = plan_to_global_transform.stamp_; +// tf_pose.frame_id_ = global_frame; +// tf::poseStampedTFToMsg(tf_pose, newer_pose); + + transformed_plan.push_back(newer_pose); + + double x_diff = robot_pose.pose.position.x - global_plan[i].pose.position.x; + double y_diff = robot_pose.pose.position.y - global_plan[i].pose.position.y; + sq_dist = x_diff * x_diff + y_diff * y_diff; + + // caclulate distance to previous pose + if (i>0 && max_plan_length>0) + plan_length += distance_points2d(global_plan[i-1].pose.position, global_plan[i].pose.position); + + ++i; + } + + // if we are really close to the goal (>0) + // the resulting transformed plan can be empty. In that case we explicitly inject the global goal. + if (transformed_plan.empty()) + { +// tf::poseStampedMsgToTF(global_plan.back(), tf_pose); +// tf_pose.setData(plan_to_global_transform * tf_pose); +// tf_pose.stamp_ = plan_to_global_transform.stamp_; +// tf_pose.frame_id_ = global_frame; +// tf::poseStampedTFToMsg(tf_pose, newer_pose); + tf2::doTransform(global_plan.back(), newer_pose, plan_to_global_transform); + + transformed_plan.push_back(newer_pose); + + // Return the index of the current goal point (inside the distance threshold) + if (current_goal_idx) *current_goal_idx = int(global_plan.size())-1; + } + else + { + // Return the index of the current goal point (inside the distance threshold) + if (current_goal_idx) *current_goal_idx = i-1; // subtract 1, since i was increased once before leaving the loop + } + + // Return the transformation from the global plan to the global planning frame if desired + if (tf_plan_to_global) *tf_plan_to_global = plan_to_global_transform; + } + catch(tf2::LookupException& ex) + { + RCLCPP_ERROR(logger_, "No Transform available Error: %s\n", ex.what()); + return false; + } + catch(tf2::ConnectivityException& ex) + { + RCLCPP_ERROR(logger_, "Connectivity Error: %s\n", ex.what()); + return false; + } + catch(tf2::ExtrapolationException& ex) + { + RCLCPP_ERROR(logger_, "Extrapolation Error: %s\n", ex.what()); + if (global_plan.size() > 0) + RCLCPP_ERROR(logger_, "Global Frame: %s Plan Frame size %d: %s\n", global_frame.c_str(), (unsigned int)global_plan.size(), global_plan[0].header.frame_id.c_str()); + + return false; + } + + return true; +} + + + + +double TebLocalPlannerROS::estimateLocalGoalOrientation(const std::vector& global_plan, const geometry_msgs::msg::PoseStamped& local_goal, + int current_goal_idx, const geometry_msgs::msg::TransformStamped& tf_plan_to_global, int moving_average_length) const +{ + int n = (int)global_plan.size(); + + // check if we are near the global goal already + if (current_goal_idx > n-moving_average_length-2) + { + if (current_goal_idx >= n-1) // we've exactly reached the goal + { + return tf2::getYaw(local_goal.pose.orientation); + } + else + { +// tf::Quaternion global_orientation; +// tf::quaternionMsgToTF(global_plan.back().pose.orientation, global_orientation); +// return tf2::getYaw(tf_plan_to_global.getRotation() * global_orientation ); + + tf2::Quaternion global_orientation, tf_plan_to_global_orientation; + tf2::fromMsg(global_plan.back().pose.orientation, global_orientation); + tf2::fromMsg(tf_plan_to_global.transform.rotation, tf_plan_to_global_orientation); + + return tf2::getYaw(tf_plan_to_global_orientation * global_orientation); + } + } + + // reduce number of poses taken into account if the desired number of poses is not available + moving_average_length = std::min(moving_average_length, n-current_goal_idx-1 ); // maybe redundant, since we have checked the vicinity of the goal before + + std::vector candidates; + geometry_msgs::msg::PoseStamped tf_pose_k = local_goal; + geometry_msgs::msg::PoseStamped tf_pose_kp1; + + int range_end = current_goal_idx + moving_average_length; + for (int i = current_goal_idx; i < range_end; ++i) + { + // Transform pose of the global plan to the planning frame + const geometry_msgs::msg::PoseStamped& pose = global_plan.at(i+1); + tf2::doTransform(global_plan.at(i+1), tf_pose_kp1, tf_plan_to_global); + + // calculate yaw angle + candidates.push_back( std::atan2(tf_pose_kp1.pose.position.y - tf_pose_k.pose.position.y, + tf_pose_kp1.pose.position.x - tf_pose_k.pose.position.x ) ); + + if (i max_vel_x) + ratio_x = max_vel_x / vx; + + // limit strafing velocity + if (vy > max_vel_y || vy < -max_vel_y) + ratio_y = std::abs(max_vel_y / vy); + + // Limit angular velocity + if (omega > max_vel_theta || omega < -max_vel_theta) + ratio_omega = std::abs(max_vel_theta / omega); + + // Limit backwards velocity + if (max_vel_x_backwards<=0) + { + RCLCPP_WARN_ONCE( + logger_, + "TebLocalPlannerROS(): Do not choose max_vel_x_backwards to be <=0. Disable backwards driving by increasing the optimization weight for penalyzing backwards driving."); + } + else if (vx < -max_vel_x_backwards) + ratio_x = - max_vel_x_backwards / vx; + + if (cfg_->robot.use_proportional_saturation) + { + double ratio = std::min(std::min(ratio_x, ratio_y), ratio_omega); + vx *= ratio; + vy *= ratio; + omega *= ratio; + } + else + { + vx *= ratio_x; + vy *= ratio_y; + omega *= ratio_omega; + } +} + + +double TebLocalPlannerROS::convertTransRotVelToSteeringAngle(double v, double omega, double wheelbase, double min_turning_radius) const +{ + if (omega==0 || v==0) + return 0; + + double radius = v/omega; + + if (fabs(radius) < min_turning_radius) + radius = double(g2o::sign(radius)) * min_turning_radius; + + return std::atan(wheelbase / radius); +} + + +void TebLocalPlannerROS::validateFootprints(double opt_inscribed_radius, double costmap_inscribed_radius, double min_obst_dist) +{ + RCLCPP_WARN_EXPRESSION( + logger_, opt_inscribed_radius + min_obst_dist < costmap_inscribed_radius, + "The inscribed radius of the footprint specified for TEB optimization (%f) + min_obstacle_dist (%f) are smaller " + "than the inscribed radius of the robot's footprint in the costmap parameters (%f, including 'footprint_padding'). " + "Infeasible optimziation results might occur frequently!", opt_inscribed_radius, min_obst_dist, costmap_inscribed_radius); +} + + + +void TebLocalPlannerROS::configureBackupModes(std::vector& transformed_plan, int& goal_idx) +{ + rclcpp::Time current_time = clock_->now(); + + // reduced horizon backup mode + if (cfg_->recovery.shrink_horizon_backup && + goal_idx < (int)transformed_plan.size()-1 && // we do not reduce if the goal is already selected (because the orientation might change -> can introduce oscillations) + (no_infeasible_plans_>0 || (current_time - time_last_infeasible_plan_).seconds() < cfg_->recovery.shrink_horizon_min_duration )) // keep short horizon for at least a few seconds + { + RCLCPP_INFO_EXPRESSION( + logger_, + no_infeasible_plans_==1, + "Activating reduced horizon backup mode for at least %.2f sec (infeasible trajectory detected).", cfg_->recovery.shrink_horizon_min_duration); + + + // Shorten horizon if requested + // reduce to 50 percent: + int horizon_reduction = goal_idx/2; + + if (no_infeasible_plans_ > 9) + { + RCLCPP_INFO_EXPRESSION( + logger_, + no_infeasible_plans_==10, + "Infeasible trajectory detected 10 times in a row: further reducing horizon..."); + horizon_reduction /= 2; + } + + // we have a small overhead here, since we already transformed 50% more of the trajectory. + // But that's ok for now, since we do not need to make transformGlobalPlan more complex + // and a reduced horizon should occur just rarely. + int new_goal_idx_transformed_plan = int(transformed_plan.size()) - horizon_reduction - 1; + goal_idx -= horizon_reduction; + if (new_goal_idx_transformed_plan>0 && goal_idx >= 0) + transformed_plan.erase(transformed_plan.begin()+new_goal_idx_transformed_plan, transformed_plan.end()); + else + goal_idx += horizon_reduction; // this should not happen, but safety first ;-) + } + + + // detect and resolve oscillations + if (cfg_->recovery.oscillation_recovery) + { + double max_vel_theta; + double max_vel_current = last_cmd_.linear.x >= 0 ? cfg_->robot.max_vel_x : cfg_->robot.max_vel_x_backwards; + if (cfg_->robot.min_turning_radius!=0 && max_vel_current>0) + max_vel_theta = std::max( max_vel_current/std::abs(cfg_->robot.min_turning_radius), cfg_->robot.max_vel_theta ); + else + max_vel_theta = cfg_->robot.max_vel_theta; + + failure_detector_.update(last_cmd_, cfg_->robot.max_vel_x, cfg_->robot.max_vel_x_backwards, max_vel_theta, + cfg_->recovery.oscillation_v_eps, cfg_->recovery.oscillation_omega_eps); + + bool oscillating = failure_detector_.isOscillating(); + bool recently_oscillated = (clock_->now()-time_last_oscillation_).seconds() < cfg_->recovery.oscillation_recovery_min_duration; // check if we have already detected an oscillation recently + + if (oscillating) + { + if (!recently_oscillated) + { + // save current turning direction + if (robot_vel_.angular.z > 0) + last_preferred_rotdir_ = RotType::left; + else + last_preferred_rotdir_ = RotType::right; + RCLCPP_INFO(logger_, "TebLocalPlannerROS: possible oscillation (of the robot or its local plan) detected. Activating recovery strategy (prefer current turning direction during optimization)."); + } + time_last_oscillation_ = clock_->now(); + planner_->setPreferredTurningDir(last_preferred_rotdir_); + } + else if (!recently_oscillated && last_preferred_rotdir_ != RotType::none) // clear recovery behavior + { + last_preferred_rotdir_ = RotType::none; + planner_->setPreferredTurningDir(last_preferred_rotdir_); + RCLCPP_INFO(logger_, "TebLocalPlannerROS: oscillation recovery disabled/expired."); + } + } + +} + + +void TebLocalPlannerROS::setSpeedLimit( + const double & speed_limit, const bool & percentage) +{ + if (speed_limit == nav2_costmap_2d::NO_SPEED_LIMIT) { + // Restore default value + cfg_->robot.max_vel_x = cfg_->robot.base_max_vel_x; + cfg_->robot.base_max_vel_x_backwards = cfg_->robot.base_max_vel_x_backwards; + cfg_->robot.base_max_vel_y = cfg_->robot.base_max_vel_y; + cfg_->robot.base_max_vel_theta = cfg_->robot.base_max_vel_theta; + } else { + if (percentage) { + // Speed limit is expressed in % from maximum speed of robot + cfg_->robot.max_vel_x = cfg_->robot.base_max_vel_x * speed_limit / 100.0; + cfg_->robot.base_max_vel_x_backwards = cfg_->robot.base_max_vel_x_backwards * speed_limit / 100.0; + cfg_->robot.base_max_vel_y = cfg_->robot.base_max_vel_y * speed_limit / 100.0; + cfg_->robot.base_max_vel_theta = cfg_->robot.base_max_vel_theta * speed_limit / 100.0; + } else { + // Speed limit is expressed in absolute value + double max_speed_xy = std::max( + std::max(cfg_->robot.base_max_vel_x,cfg_->robot.base_max_vel_x_backwards),cfg_->robot.base_max_vel_y); + if (speed_limit < max_speed_xy) { + // Handling components and angular velocity changes: + // Max velocities are being changed in the same proportion + // as absolute linear speed changed in order to preserve + // robot moving trajectories to be the same after speed change. + // G. Doisy: not sure if that's applicable to base_max_vel_x_backwards. + const double ratio = speed_limit / max_speed_xy; + cfg_->robot.max_vel_x = cfg_->robot.base_max_vel_x * ratio; + cfg_->robot.base_max_vel_x_backwards = cfg_->robot.base_max_vel_x_backwards * ratio; + cfg_->robot.base_max_vel_y = cfg_->robot.base_max_vel_y * ratio; + cfg_->robot.base_max_vel_theta = cfg_->robot.base_max_vel_theta * ratio; + } + } + } +} + +void TebLocalPlannerROS::customObstacleCB(const costmap_converter_msgs::msg::ObstacleArrayMsg::ConstSharedPtr obst_msg) +{ + std::lock_guard l(custom_obst_mutex_); + custom_obstacle_msg_ = *obst_msg; +} + +void TebLocalPlannerROS::customViaPointsCB(const nav_msgs::msg::Path::ConstSharedPtr via_points_msg) +{ + RCLCPP_INFO_ONCE(logger_, "Via-points received. This message is printed once."); + if (cfg_->trajectory.global_plan_viapoint_sep > 0) + { + RCLCPP_INFO(logger_, "Via-points are already obtained from the global plan (global_plan_viapoint_sep>0)." + "Ignoring custom via-points."); + custom_via_points_active_ = false; + return; + } + + std::lock_guard l(via_point_mutex_); + via_points_.clear(); + for (const geometry_msgs::msg::PoseStamped& pose : via_points_msg->poses) + { + via_points_.emplace_back(pose.pose.position.x, pose.pose.position.y); + } + custom_via_points_active_ = !via_points_.empty(); +} + +void TebLocalPlannerROS::activate() { + visualization_->on_activate(); + + return; +} +void TebLocalPlannerROS::deactivate() { + visualization_->on_deactivate(); + + return; +} +void TebLocalPlannerROS::cleanup() { + visualization_->on_cleanup(); + costmap_converter_->stopWorker(); + + return; +} + +} // end namespace teb_local_planner + +// register this planner as a nav2_core::Controller plugin +PLUGINLIB_EXPORT_CLASS(teb_local_planner::TebLocalPlannerROS, nav2_core::Controller) diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/test_optim_node.cpp b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/test_optim_node.cpp new file mode 100644 index 0000000..94d9c02 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/test_optim_node.cpp @@ -0,0 +1,322 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2017. + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#include "teb_local_planner/teb_local_planner_ros.h" + +//#include +#include + + +using namespace teb_local_planner; // it is ok here to import everything for testing purposes + +// ============= Global Variables ================ +// Ok global variables are bad, but here we only have a simple testing node. +PlannerInterfacePtr planner; +TebVisualizationPtr visual; +std::vector obst_vector; +ViaPointContainer via_points; +TebConfig config; +//std::shared_ptr< dynamic_reconfigure::Server > dynamic_recfg; +ros::Subscriber custom_obst_sub; +ros::Subscriber via_points_sub; +ros::Subscriber clicked_points_sub; +std::vector obst_vel_subs; +unsigned int no_fixed_obstacles; + +// =========== Function declarations ============= +void CB_mainCycle(const ros::TimerEvent& e); +void CB_publishCycle(const ros::TimerEvent& e); +void CB_reconfigure(TebLocalPlannerReconfigureConfig& reconfig, uint32_t level); +void CB_customObstacle(const costmap_converter::ObstacleArrayMsg::ConstPtr& obst_msg); +void CreateInteractiveMarker(const double& init_x, const double& init_y, unsigned int id, std::string frame, interactive_markers::InteractiveMarkerServer* marker_server, interactive_markers::InteractiveMarkerServer::FeedbackCallback feedback_cb); +void CB_obstacle_marker(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback); +void CB_clicked_points(const geometry_msgs::PointStampedConstPtr& point_msg); +void CB_via_points(const nav_msgs::msg::Path::ConstPtr& via_points_msg); +void CB_setObstacleVelocity(const geometry_msgs::msg::TwistConstPtr& twist_msg, const unsigned int id); + + +// =============== Main function ================= +int main( int argc, char** argv ) +{ + ros::init(argc, argv, "test_optim_node"); + rclcpp::Node::SharedPtr n("~"); + + + // load ros parameters from node handle + config.loadRosParamFromNodeHandle(n); + + ros::Timer cycle_timer = n.createTimer(ros::Duration(0.025), CB_mainCycle); + ros::Timer publish_timer = n.createTimer(ros::Duration(0.1), CB_publishCycle); + + // setup dynamic reconfigure + dynamic_recfg = std::make_shared< dynamic_reconfigure::Server >(n); + dynamic_reconfigure::Server::CallbackType cb = boost::bind(CB_reconfigure, _1, _2); + dynamic_recfg->setCallback(cb); + + // setup callback for custom obstacles + custom_obst_sub = n.subscribe("obstacles", 1, CB_customObstacle); + + // setup callback for clicked points (in rviz) that are considered as via-points + clicked_points_sub = n.subscribe("/clicked_point", 5, CB_clicked_points); + + // setup callback for via-points (callback overwrites previously set via-points) + via_points_sub = n.subscribe("via_points", 1, CB_via_points); + + // interactive marker server for simulated dynamic obstacles + interactive_markers::InteractiveMarkerServer marker_server("marker_obstacles"); + + obst_vector.push_back( std::make_shared(-3,1) ); + obst_vector.push_back( std::make_shared(6,2) ); + obst_vector.push_back( std::make_shared(0,0.1) ); +// obst_vector.push_back( std::make_shared(1,1.5,1,-1.5) ); //90 deg +// obst_vector.push_back( std::make_shared(1,0,-1,0) ); //180 deg +// obst_vector.push_back( std::make_shared(-1.5,-0.5) ); + + // Dynamic obstacles + Eigen::Vector2d vel (0.1, -0.3); + obst_vector.at(0)->setCentroidVelocity(vel); + vel = Eigen::Vector2d(-0.3, -0.2); + obst_vector.at(1)->setCentroidVelocity(vel); + + /* + PolygonObstacle* polyobst = new PolygonObstacle; + polyobst->pushBackVertex(1, -1); + polyobst->pushBackVertex(0, 1); + polyobst->pushBackVertex(1, 1); + polyobst->pushBackVertex(2, 1); + + polyobst->finalizePolygon(); + obst_vector.emplace_back(polyobst); + */ + + for (unsigned int i=0; i(topic, 1, boost::bind(&CB_setObstacleVelocity, _1, i))); + + //CreateInteractiveMarker(obst_vector.at(i)[0],obst_vector.at(i)[1],i,&marker_server, &CB_obstacle_marker); + // Add interactive markers for all point obstacles + std::shared_ptr pobst = boost::dynamic_pointer_cast(obst_vector.at(i)); + if (pobst) + { + CreateInteractiveMarker(pobst->x(),pobst->y(),i, config.map_frame, &marker_server, &CB_obstacle_marker); + } + } + marker_server.applyChanges(); + + // Setup visualization + visual = TebVisualizationPtr(new TebVisualization(n, config)); + + // Setup robot shape model + RobotFootprintModelPtr robot_model = TebLocalPlannerROS::getRobotFootprintFromParamServer(n); + + // Setup planner (homotopy class planning or just the local teb planner) + if (config.hcp.enable_homotopy_class_planning) + planner = PlannerInterfacePtr(new HomotopyClassPlanner(config, &obst_vector, robot_model, visual, &via_points)); + else + planner = PlannerInterfacePtr(new TebOptimalPlanner(config, &obst_vector, robot_model, visual, &via_points)); + + + no_fixed_obstacles = obst_vector.size(); + ros::spin(); + + return 0; +} + +// Planning loop +void CB_mainCycle(const ros::TimerEvent& e) +{ + planner->plan(PoseSE2(-4,0,0), PoseSE2(4,0,0)); // hardcoded start and goal for testing purposes +} + +// Visualization loop +void CB_publishCycle(const ros::TimerEvent& e) +{ + planner->visualize(); + visual->publishObstacles(obst_vector); + visual->publishViaPoints(via_points); +} + +void CB_reconfigure(TebLocalPlannerReconfigureConfig& reconfig, uint32_t level) +{ + config.reconfigure(reconfig); +} + +void CreateInteractiveMarker(const double& init_x, const double& init_y, unsigned int id, std::string frame, interactive_markers::InteractiveMarkerServer* marker_server, interactive_markers::InteractiveMarkerServer::FeedbackCallback feedback_cb) +{ + // create an interactive marker for our server + visualization_msgs::InteractiveMarker i_marker; + i_marker.header.frame_id = frame; + i_marker.header.stamp = ros::Time::now(); + std::ostringstream oss; + //oss << "obstacle" << id; + oss << id; + i_marker.name = oss.str(); + i_marker.description = "Obstacle"; + i_marker.pose.position.x = init_x; + i_marker.pose.position.y = init_y; + i_marker.pose.orientation.w = 1.0f; // make quaternion normalized + + // create a grey box marker + visualization_msgs::msg::Marker box_marker; + box_marker.type = visualization_msgs::msg::Marker::CUBE; + box_marker.id = id; + box_marker.scale.x = 0.2; + box_marker.scale.y = 0.2; + box_marker.scale.z = 0.2; + box_marker.color.r = 0.5; + box_marker.color.g = 0.5; + box_marker.color.b = 0.5; + box_marker.color.a = 1.0; + box_marker.pose.orientation.w = 1.0f; // make quaternion normalized + + // create a non-interactive control which contains the box + visualization_msgs::InteractiveMarkerControl box_control; + box_control.always_visible = true; + box_control.markers.push_back( box_marker ); + + // add the control to the interactive marker + i_marker.controls.push_back( box_control ); + + // create a control which will move the box, rviz will insert 2 arrows + visualization_msgs::InteractiveMarkerControl move_control; + move_control.name = "move_x"; + move_control.orientation.w = 0.707107f; + move_control.orientation.x = 0; + move_control.orientation.y = 0.707107f; + move_control.orientation.z = 0; + move_control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_PLANE; + + + // add the control to the interactive marker + i_marker.controls.push_back(move_control); + + // add the interactive marker to our collection + marker_server->insert(i_marker); + marker_server->setCallback(i_marker.name,feedback_cb); +} + +void CB_obstacle_marker(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback) +{ + std::stringstream ss(feedback->marker_name); + unsigned int index; + ss >> index; + + if (index>=no_fixed_obstacles) + return; + PointObstacle* pobst = static_cast(obst_vector.at(index).get()); + pobst->position() = Eigen::Vector2d(feedback->pose.position.x,feedback->pose.position.y); +} + +void CB_customObstacle(const costmap_converter::ObstacleArrayMsg::ConstPtr& obst_msg) +{ + // resize such that the vector contains only the fixed obstacles specified inside the main function + obst_vector.resize(no_fixed_obstacles); + + // Add custom obstacles obtained via message (assume that all obstacles coordiantes are specified in the default planning frame) + for (size_t i = 0; i < obst_msg->obstacles.size(); ++i) + { + if (obst_msg->obstacles.at(i).polygon.points.size() == 1 ) + { + if (obst_msg->obstacles.at(i).radius == 0) + { + obst_vector.push_back(ObstaclePtr(new PointObstacle( obst_msg->obstacles.at(i).polygon.points.front().x, + obst_msg->obstacles.at(i).polygon.points.front().y ))); + } + else + { + obst_vector.push_back(ObstaclePtr(new CircularObstacle( obst_msg->obstacles.at(i).polygon.points.front().x, + obst_msg->obstacles.at(i).polygon.points.front().y, + obst_msg->obstacles.at(i).radius ))); + } + } + else if (obst_msg->obstacles.at(i).polygon.points.empty()) + { + ROS_WARN("Invalid custom obstacle received. List of polygon vertices is empty. Skipping..."); + continue; + } + else + { + PolygonObstacle* polyobst = new PolygonObstacle; + for (size_t j=0; jobstacles.at(i).polygon.points.size(); ++j) + { + polyobst->pushBackVertex( obst_msg->obstacles.at(i).polygon.points[j].x, + obst_msg->obstacles.at(i).polygon.points[j].y ); + } + polyobst->finalizePolygon(); + obst_vector.push_back(ObstaclePtr(polyobst)); + } + + if(!obst_vector.empty()) + obst_vector.back()->setCentroidVelocity(obst_msg->obstacles.at(i).velocities, obst_msg->obstacles.at(i).orientation); + } +} + + +void CB_clicked_points(const geometry_msgs::PointStampedConstPtr& point_msg) +{ + // we assume for simplicity that the fixed frame is already the map/planning frame + // consider clicked points as via-points + via_points.push_back( Eigen::Vector2d(point_msg->point.x, point_msg->point.y) ); + ROS_INFO_STREAM("Via-point (" << point_msg->point.x << "," << point_msg->point.y << ") added."); + if (config.optim.weight_viapoint<=0) + ROS_WARN("Note, via-points are deactivated, since 'weight_via_point' <= 0"); +} + +void CB_via_points(const nav_msgs::msg::Path::ConstPtr& via_points_msg) +{ + ROS_INFO_ONCE("Via-points received. This message is printed once."); + via_points.clear(); + for (const geometry_msgs::msg::PoseStamped& pose : via_points_msg->poses) + { + via_points.emplace_back(pose.pose.position.x, pose.pose.position.y); + } +} + +void CB_setObstacleVelocity(const geometry_msgs::msg::TwistConstPtr& twist_msg, const unsigned int id) +{ + if (id >= obst_vector.size()) + { + ROS_WARN("Cannot set velocity: unknown obstacle id."); + return; + } + + Eigen::Vector2d vel (twist_msg->linear.x, twist_msg->linear.y); + obst_vector.at(id)->setCentroidVelocity(vel); +} diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/timed_elastic_band.cpp b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/timed_elastic_band.cpp new file mode 100644 index 0000000..4d7d37c --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/timed_elastic_band.cpp @@ -0,0 +1,630 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#include "teb_local_planner/timed_elastic_band.h" + +namespace teb_local_planner +{ + +namespace +{ + /** + * estimate the time to move from start to end. + * Assumes constant velocity for the motion. + */ + double estimateDeltaT(const PoseSE2& start, const PoseSE2& end, + double max_vel_x, double max_vel_theta) + { + double dt_constant_motion = 0.1; + if (max_vel_x > 0) { + double trans_dist = (end.position() - start.position()).norm(); + dt_constant_motion = trans_dist / max_vel_x; + } + if (max_vel_theta > 0) { + double rot_dist = std::abs(g2o::normalize_theta(end.theta() - start.theta())); + dt_constant_motion = std::max(dt_constant_motion, rot_dist / max_vel_theta); + } + return dt_constant_motion; + } +} // namespace + + +TimedElasticBand::TimedElasticBand() +{ +} + +TimedElasticBand::~TimedElasticBand() +{ + RCLCPP_DEBUG(rclcpp::get_logger("teb_local_planner"), "Destructor Timed_Elastic_Band..."); + clearTimedElasticBand(); +} + + +void TimedElasticBand::addPose(const PoseSE2& pose, bool fixed) +{ + VertexPose* pose_vertex = new VertexPose(pose, fixed); + pose_vec_.push_back( pose_vertex ); + return; +} + +void TimedElasticBand::addPose(const Eigen::Ref& position, double theta, bool fixed) +{ + VertexPose* pose_vertex = new VertexPose(position, theta, fixed); + pose_vec_.push_back( pose_vertex ); + return; +} + + void TimedElasticBand::addPose(double x, double y, double theta, bool fixed) +{ + VertexPose* pose_vertex = new VertexPose(x, y, theta, fixed); + pose_vec_.push_back( pose_vertex ); + return; +} + +void TimedElasticBand::addTimeDiff(double dt, bool fixed) +{ + assert(dt > 0.0 && "Adding a timediff requires a positive dt"); + VertexTimeDiff* timediff_vertex = new VertexTimeDiff(dt, fixed); + timediff_vec_.push_back( timediff_vertex ); + return; +} + + +void TimedElasticBand::addPoseAndTimeDiff(double x, double y, double angle, double dt) +{ + if (sizePoses() != sizeTimeDiffs()) + { + addPose(x,y,angle,false); + addTimeDiff(dt,false); + } + else { + RCLCPP_ERROR(rclcpp::get_logger("teb_local_planner"), + "Method addPoseAndTimeDiff: Add one single Pose first. Timediff describes the time difference between last conf and given conf"); + } + return; +} + + + +void TimedElasticBand::addPoseAndTimeDiff(const PoseSE2& pose, double dt) +{ + if (sizePoses() != sizeTimeDiffs()) + { + addPose(pose,false); + addTimeDiff(dt,false); + } else { + RCLCPP_ERROR(rclcpp::get_logger("teb_local_planner"), "Method addPoseAndTimeDiff: Add one single Pose first. Timediff describes the time difference between last conf and given conf"); + } + return; +} + +void TimedElasticBand::addPoseAndTimeDiff(const Eigen::Ref& position, double theta, double dt) +{ + if (sizePoses() != sizeTimeDiffs()) + { + addPose(position, theta,false); + addTimeDiff(dt,false); + } else { + RCLCPP_DEBUG(rclcpp::get_logger("teb_local_planner"), + "Method addPoseAndTimeDiff: Add one single Pose first. Timediff describes the time difference between last conf and given conf"); + } + return; +} + + +void TimedElasticBand::deletePose(int index) +{ + assert(index& position, double theta) +{ + VertexPose* pose_vertex = new VertexPose(position, theta); + pose_vec_.insert(pose_vec_.begin()+index, pose_vertex); +} + +void TimedElasticBand::insertPose(int index, double x, double y, double theta) +{ + VertexPose* pose_vertex = new VertexPose(x, y, theta); + pose_vec_.insert(pose_vec_.begin()+index, pose_vertex); +} + +void TimedElasticBand::insertTimeDiff(int index, double dt) +{ + VertexTimeDiff* timediff_vertex = new VertexTimeDiff(dt); + timediff_vec_.insert(timediff_vec_.begin()+index, timediff_vertex); +} + + +void TimedElasticBand::clearTimedElasticBand() +{ + for (PoseSequence::iterator pose_it = pose_vec_.begin(); pose_it != pose_vec_.end(); ++pose_it) + delete *pose_it; + pose_vec_.clear(); + + for (TimeDiffSequence::iterator dt_it = timediff_vec_.begin(); dt_it != timediff_vec_.end(); ++dt_it) + delete *dt_it; + timediff_vec_.clear(); +} + + +void TimedElasticBand::setPoseVertexFixed(int index, bool status) +{ + assert(indexsetFixed(status); +} + +void TimedElasticBand::setTimeDiffVertexFixed(int index, bool status) +{ + assert(indexsetFixed(status); +} + + +void TimedElasticBand::autoResize(double dt_ref, double dt_hysteresis, int min_samples, int max_samples, bool fast_mode) +{ + assert(sizeTimeDiffs() == 0 || sizeTimeDiffs() + 1 == sizePoses()); + /// iterate through all TEB states and add/remove states! + bool modified = true; + + for (int rep = 0; rep < 100 && modified; ++rep) // actually it should be while(), but we want to make sure to not get stuck in some oscillation, hence max 100 repitions. + { + modified = false; + + for(int i=0; i < sizeTimeDiffs(); ++i) // TimeDiff connects Point(i) with Point(i+1) + { + if(TimeDiff(i) > dt_ref + dt_hysteresis && sizeTimeDiffs()min_samples) // only remove samples if size is larger than min_samples. + { + //RCLCPP_DEBUG(rclcpp::get_logger("teb_local_planner"), "teb_local_planner: autoResize() deleting bandpoint i=%u, #TimeDiffs=%lu",i,sizeTimeDiffs()); + + if(i < ((int)sizeTimeDiffs()-1)) + { + TimeDiff(i+1) = TimeDiff(i+1) + TimeDiff(i); + deleteTimeDiff(i); + deletePose(i+1); + } + else + { // last motion should be adjusted, shift time to the interval before + TimeDiff(i-1) += TimeDiff(i); + deleteTimeDiff(i); + deletePose(i); + } + + modified = true; + } + } + if (fast_mode) break; + } +} + + +double TimedElasticBand::getSumOfAllTimeDiffs() const +{ + double time = 0; + + for(TimeDiffSequence::const_iterator dt_it = timediff_vec_.begin(); dt_it != timediff_vec_.end(); ++dt_it) + { + time += (*dt_it)->dt(); + } + return time; +} + +double TimedElasticBand::getSumOfTimeDiffsUpToIdx(int index) const +{ + assert(index<=timediff_vec_.size()); + + double time = 0; + + for(int i = 0; i < index; ++i) + { + time += timediff_vec_.at(i)->dt(); + } + + return time; +} + +double TimedElasticBand::getAccumulatedDistance() const +{ + double dist = 0; + + for(int i=1; i 0) timestep = diststep / max_vel_x; + + for (unsigned int i=1; i<=no_steps; i++) // start with 1! starting point had index 0 + { + if (i==no_steps && no_steps_d==(float) no_steps) + break; // if last conf (depending on stepsize) is equal to goal conf -> leave loop + addPoseAndTimeDiff(start.x()+i*dx,start.y()+i*dy,orient_init,timestep); + } + + } + + // if number of samples is not larger than min_samples, insert manually + if ( sizePoses() < min_samples-1 ) + { + RCLCPP_DEBUG(rclcpp::get_logger("teb_local_planner"), + "initTEBtoGoal(): number of generated samples is less than specified by min_samples. Forcing the insertion of more samples..."); + while (sizePoses() < min_samples-1) // subtract goal point that will be added later + { + // simple strategy: interpolate between the current pose and the goal + PoseSE2 intermediate_pose = PoseSE2::average(BackPose(), goal); + if (max_vel_x > 0) timestep = (intermediate_pose.position()-BackPose().position()).norm()/max_vel_x; + addPoseAndTimeDiff( intermediate_pose, timestep ); // let the optimier correct the timestep (TODO: better initialization + } + } + + // add goal + if (max_vel_x > 0) timestep = (goal.position()-BackPose().position()).norm()/max_vel_x; + addPoseAndTimeDiff(goal,timestep); // add goal point + setPoseVertexFixed(sizePoses()-1,true); // GoalConf is a fixed constraint during optimization + } + else // size!=0 + { + RCLCPP_WARN(rclcpp::get_logger("teb_local_planner"), + "Cannot init TEB between given configuration and goal, because TEB vectors are not empty or TEB is already initialized (call this function before adding states yourself)!"); + RCLCPP_WARN(rclcpp::get_logger("teb_local_planner"), + "Number of TEB configurations: %d, Number of TEB timediffs: %d",(unsigned int) sizePoses(),(unsigned int) sizeTimeDiffs()); + return false; + } + return true; +} + + +bool TimedElasticBand::initTrajectoryToGoal(const std::vector& plan, double max_vel_x, double max_vel_theta, bool estimate_orient, int min_samples, bool guess_backwards_motion) +{ + + if (!isInit()) + { + PoseSE2 start(plan.front().pose); + PoseSE2 goal(plan.back().pose); + + addPose(start); // add starting point with given orientation + setPoseVertexFixed(0,true); // StartConf is a fixed constraint during optimization + + bool backwards = false; + if (guess_backwards_motion && (goal.position()-start.position()).dot(start.orientationUnitVec()) < 0) // check if the goal is behind the start pose (w.r.t. start orientation) + backwards = true; + // TODO: dt ~ max_vel_x_backwards for backwards motions + + for (int i=1; i<(int)plan.size()-1; ++i) + { + double yaw; + if (estimate_orient) + { + // get yaw from the orientation of the distance vector between pose_{i+1} and pose_{i} + double dx = plan[i+1].pose.position.x - plan[i].pose.position.x; + double dy = plan[i+1].pose.position.y - plan[i].pose.position.y; + yaw = std::atan2(dy,dx); + if (backwards) + yaw = g2o::normalize_theta(yaw+M_PI); + } + else + { + yaw = tf2::getYaw(plan[i].pose.orientation); + } + PoseSE2 intermediate_pose(plan[i].pose.position.x, plan[i].pose.position.y, yaw); + double dt = estimateDeltaT(BackPose(), intermediate_pose, max_vel_x, max_vel_theta); + addPoseAndTimeDiff(intermediate_pose, dt); + } + + // if number of samples is not larger than min_samples, insert manually + if ( sizePoses() < min_samples-1 ) + { + RCLCPP_DEBUG(rclcpp::get_logger("teb_local_planner"), + "initTEBtoGoal(): number of generated samples is less than specified by min_samples. Forcing the insertion of more samples..."); + while (sizePoses() < min_samples-1) // subtract goal point that will be added later + { + // simple strategy: interpolate between the current pose and the goal + PoseSE2 intermediate_pose = PoseSE2::average(BackPose(), goal); + double dt = estimateDeltaT(BackPose(), intermediate_pose, max_vel_x, max_vel_theta); + addPoseAndTimeDiff( intermediate_pose, dt ); // let the optimier correct the timestep (TODO: better initialization + } + } + + // Now add final state with given orientation + double dt = estimateDeltaT(BackPose(), goal, max_vel_x, max_vel_theta); + addPoseAndTimeDiff(goal, dt); + setPoseVertexFixed(sizePoses()-1,true); // GoalConf is a fixed constraint during optimization + } + else // size!=0 + { + RCLCPP_WARN(rclcpp::get_logger("teb_local_planner"), + "Cannot init TEB between given configuration and goal, because TEB vectors are not empty or TEB is already initialized (call this function before adding states yourself)!"); + RCLCPP_WARN(rclcpp::get_logger("teb_local_planner"), + "Number of TEB configurations: %d, Number of TEB timediffs: %d", sizePoses(), sizeTimeDiffs()); + return false; + } + + return true; +} + + +int TimedElasticBand::findClosestTrajectoryPose(const Eigen::Ref& ref_point, double* distance, int begin_idx) const +{ + int n = sizePoses(); + if (begin_idx < 0 || begin_idx >= n) + return -1; + + double min_dist_sq = std::numeric_limits::max(); + int min_idx = -1; + + for (int i = begin_idx; i < n; i++) + { + double dist_sq = (ref_point - Pose(i).position()).squaredNorm(); + if (dist_sq < min_dist_sq) + { + min_dist_sq = dist_sq; + min_idx = i; + } + } + + if (distance) + *distance = std::sqrt(min_dist_sq); + + return min_idx; +} + + +int TimedElasticBand::findClosestTrajectoryPose(const Eigen::Ref& ref_line_start, const Eigen::Ref& ref_line_end, double* distance) const +{ + double min_dist = std::numeric_limits::max(); + int min_idx = -1; + + for (int i = 0; i < sizePoses(); i++) + { + Eigen::Vector2d point = Pose(i).position(); + double dist = distance_point_to_segment_2d(point, ref_line_start, ref_line_end); + if (dist < min_dist) + { + min_dist = dist; + min_idx = i; + } + } + + if (distance) + *distance = min_dist; + return min_idx; +} + +int TimedElasticBand::findClosestTrajectoryPose(const Point2dContainer& vertices, double* distance) const +{ + if (vertices.empty()) + return 0; + else if (vertices.size() == 1) + return findClosestTrajectoryPose(vertices.front()); + else if (vertices.size() == 2) + return findClosestTrajectoryPose(vertices.front(), vertices.back()); + + double min_dist = std::numeric_limits::max(); + int min_idx = -1; + + for (int i = 0; i < sizePoses(); i++) + { + Eigen::Vector2d point = Pose(i).position(); + double dist_to_polygon = std::numeric_limits::max(); + for (int j = 0; j < (int) vertices.size()-1; ++j) + { + dist_to_polygon = std::min(dist_to_polygon, distance_point_to_segment_2d(point, vertices[j], vertices[j+1])); + } + dist_to_polygon = std::min(dist_to_polygon, distance_point_to_segment_2d(point, vertices.back(), vertices.front())); + if (dist_to_polygon < min_dist) + { + min_dist = dist_to_polygon; + min_idx = i; + } + } + + if (distance) + *distance = min_dist; + + return min_idx; +} + + +int TimedElasticBand::findClosestTrajectoryPose(const Obstacle& obstacle, double* distance) const +{ + const PointObstacle* pobst = dynamic_cast(&obstacle); + if (pobst) + return findClosestTrajectoryPose(pobst->position(), distance); + + const LineObstacle* lobst = dynamic_cast(&obstacle); + if (lobst) + return findClosestTrajectoryPose(lobst->start(), lobst->end(), distance); + + const PolygonObstacle* polyobst = dynamic_cast(&obstacle); + if (polyobst) + return findClosestTrajectoryPose(polyobst->vertices(), distance); + + return findClosestTrajectoryPose(obstacle.getCentroid(), distance); +} + + +void TimedElasticBand::updateAndPruneTEB(boost::optional new_start, boost::optional new_goal, int min_samples) +{ + // first and simple approach: change only start confs (and virtual start conf for inital velocity) + // TEST if optimizer can handle this "hard" placement + + if (new_start && sizePoses()>0) + { + // find nearest state (using l2-norm) in order to prune the trajectory + // (remove already passed states) + double dist_cache = (new_start->position()- Pose(0).position()).norm(); + double dist; + int lookahead = std::min( sizePoses()-min_samples, 10); // satisfy min_samples, otherwise max 10 samples + + int nearest_idx = 0; + for (int i = 1; i<=lookahead; ++i) + { + dist = (new_start->position()- Pose(i).position()).norm(); + if (dist0) + { + // nearest_idx is equal to the number of samples to be removed (since it counts from 0 ;-) ) + // WARNING delete starting at pose 1, and overwrite the original pose(0) with new_start, since Pose(0) is fixed during optimization! + deletePoses(1, nearest_idx); // delete first states such that the closest state is the new first one + deleteTimeDiffs(1, nearest_idx); // delete corresponding time differences + } + + // update start + Pose(0) = *new_start; + } + + if (new_goal && sizePoses()>0) + { + BackPose() = *new_goal; + } +}; + + +bool TimedElasticBand::isTrajectoryInsideRegion(double radius, double max_dist_behind_robot, int skip_poses) +{ + if (sizePoses()<=0) + return true; + + double radius_sq = radius*radius; + double max_dist_behind_robot_sq = max_dist_behind_robot*max_dist_behind_robot; + Eigen::Vector2d robot_orient = Pose(0).orientationUnitVec(); + + for (int i=1; i radius_sq) + { + RCLCPP_INFO(rclcpp::get_logger("teb_local_planner"), "outside robot"); + return false; + } + + // check behind the robot with a different distance, if specified (or >=0) + if (max_dist_behind_robot >= 0 && dist_vec.dot(robot_orient) < 0 && dist_sq > max_dist_behind_robot_sq) + { + RCLCPP_INFO(rclcpp::get_logger("teb_local_planner"), "outside robot behind"); + return false; + } + + } + return true; +} + + + + +} // namespace teb_local_planner diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/visualization.cpp b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/visualization.cpp new file mode 100644 index 0000000..025960d --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/visualization.cpp @@ -0,0 +1,563 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Christoph Rösmann + *********************************************************************/ + +// ros stuff +#include "teb_local_planner/visualization.h" +#include "teb_local_planner/optimal_planner.h" + +namespace teb_local_planner +{ + +void publishPlan(const std::vector& path, + rclcpp::Publisher *pub) { + if(path.empty()) + return; + + nav_msgs::msg::Path gui_path; + gui_path.poses.resize(path.size()); + gui_path.header.frame_id = path[0].header.frame_id; + gui_path.header.stamp = path[0].header.stamp; + + // Extract the plan in world co-ordinates, we assume the path is all in the same frame + for(unsigned int i=0; i < path.size(); i++){ + gui_path.poses[i] = path[i]; + } + + pub->publish(gui_path); +} + +TebVisualization::TebVisualization(const rclcpp_lifecycle::LifecycleNode::SharedPtr & nh, const TebConfig& cfg) : nh_(nh), cfg_(&cfg), initialized_(false) +{ +} + +void TebVisualization::publishGlobalPlan(const std::vector& global_plan) const +{ + if ( printErrorWhenNotInitialized() ) + return; + publishPlan(global_plan, global_plan_pub_.get()); +} + +void TebVisualization::publishLocalPlan(const std::vector& local_plan) const +{ + if ( printErrorWhenNotInitialized() ) + return; + publishPlan(local_plan, local_plan_pub_.get()); +} + +void TebVisualization::publishLocalPlanAndPoses(const TimedElasticBand& teb) const +{ + if ( printErrorWhenNotInitialized() ) + return; + + // create path msg + nav_msgs::msg::Path teb_path; + teb_path.header.frame_id = cfg_->map_frame; + teb_path.header.stamp = nh_->now(); + + // create pose_array (along trajectory) + geometry_msgs::msg::PoseArray teb_poses; + teb_poses.header.frame_id = teb_path.header.frame_id; + teb_poses.header.stamp = teb_path.header.stamp; + + // fill path msgs with teb configurations + for (int i=0; i < teb.sizePoses(); i++) + { + geometry_msgs::msg::PoseStamped pose; + + pose.header.frame_id = teb_path.header.frame_id; + pose.header.stamp = teb_path.header.stamp; + teb.Pose(i).toPoseMsg(pose.pose); + pose.pose.position.z = cfg_->hcp.visualize_with_time_as_z_axis_scale*teb.getSumOfTimeDiffsUpToIdx(i); + teb_path.poses.push_back(pose); + teb_poses.poses.push_back(pose.pose); + } + local_plan_pub_->publish(teb_path); + teb_poses_pub_->publish(teb_poses); +} + + + +void TebVisualization::publishRobotFootprintModel(const PoseSE2& current_pose, const BaseRobotFootprintModel& robot_model, const std::string& ns, + const std_msgs::msg::ColorRGBA &color) +{ + if ( printErrorWhenNotInitialized() ) + return; + + std::vector markers; + robot_model.visualizeRobot(current_pose, markers, color); + if (markers.empty()) + return; + + int idx = 1000000; // avoid overshadowing by obstacles + for (std::vector::iterator marker_it = markers.begin(); marker_it != markers.end(); ++marker_it, ++idx) + { + marker_it->header.frame_id = cfg_->map_frame; + marker_it->header.stamp = nh_->now(); + marker_it->action = visualization_msgs::msg::Marker::ADD; + marker_it->ns = ns; + marker_it->id = idx; + marker_it->lifetime = rclcpp::Duration(2, 0); + teb_marker_pub_->publish(*marker_it); + } + +} + +void TebVisualization::publishInfeasibleRobotPose(const PoseSE2& current_pose, const BaseRobotFootprintModel& robot_model) +{ + publishRobotFootprintModel(current_pose, robot_model, "InfeasibleRobotPoses", toColorMsg(0.5, 0.8, 0.0, 0.0)); +} + + +void TebVisualization::publishObstacles(const ObstContainer& obstacles) const +{ + if ( obstacles.empty() || printErrorWhenNotInitialized() ) + return; + + // Visualize point obstacles + { + visualization_msgs::msg::Marker marker; + marker.header.frame_id = cfg_->map_frame; + marker.header.stamp = nh_->now(); + marker.ns = "PointObstacles"; + marker.id = 0; + marker.type = visualization_msgs::msg::Marker::POINTS; + marker.action = visualization_msgs::msg::Marker::ADD; + marker.lifetime = rclcpp::Duration(2, 0); + marker.pose.orientation.w = 1.0; + + for (ObstContainer::const_iterator obst = obstacles.begin(); obst != obstacles.end(); ++obst) + { + std::shared_ptr pobst = std::dynamic_pointer_cast(*obst); + if (!pobst) + continue; + + if (cfg_->hcp.visualize_with_time_as_z_axis_scale < 0.001) + { + geometry_msgs::msg::Point point; + point.x = pobst->x(); + point.y = pobst->y(); + point.z = 0; + marker.points.push_back(point); + } + else // Spatiotemporally point obstacles become a line + { + marker.type = visualization_msgs::msg::Marker::LINE_LIST; + geometry_msgs::msg::Point start; + start.x = pobst->x(); + start.y = pobst->y(); + start.z = 0; + marker.points.push_back(start); + + geometry_msgs::msg::Point end; + double t = 20; + Eigen::Vector2d pred; + pobst->predictCentroidConstantVelocity(t, pred); + end.x = pred[0]; + end.y = pred[1]; + end.z = cfg_->hcp.visualize_with_time_as_z_axis_scale*t; + marker.points.push_back(end); + } + } + + marker.scale.x = 0.1; + marker.scale.y = 0.1; + marker.color.a = 1.0; + marker.color.r = 1.0; + marker.color.g = 0.0; + marker.color.b = 0.0; + + teb_marker_pub_->publish( marker ); + } + + // Visualize circular obstacles + { + std::size_t idx = 0; + for (ObstContainer::const_iterator obst = obstacles.begin(); obst != obstacles.end(); ++obst) + { + std::shared_ptr pobst = std::dynamic_pointer_cast(*obst); + if (!pobst) + continue; + + visualization_msgs::msg::Marker marker; + marker.header.frame_id = cfg_->map_frame; + marker.header.stamp = nh_->now(); + marker.ns = "CircularObstacles"; + marker.id = idx++; + marker.type = visualization_msgs::msg::Marker::SPHERE_LIST; + marker.action = visualization_msgs::msg::Marker::ADD; + marker.lifetime = rclcpp::Duration(2, 0); + geometry_msgs::msg::Point point; + point.x = pobst->x(); + point.y = pobst->y(); + point.z = 0; + marker.points.push_back(point); + + marker.scale.x = pobst->radius(); + marker.scale.y = pobst->radius(); + marker.color.a = 1.0; + marker.color.r = 0.0; + marker.color.g = 1.0; + marker.color.b = 0.0; + + teb_marker_pub_->publish( marker ); + } + } + + // Visualize line obstacles + { + std::size_t idx = 0; + for (ObstContainer::const_iterator obst = obstacles.begin(); obst != obstacles.end(); ++obst) + { + std::shared_ptr pobst = std::dynamic_pointer_cast(*obst); + if (!pobst) + continue; + + visualization_msgs::msg::Marker marker; + marker.header.frame_id = cfg_->map_frame; + marker.header.stamp = nh_->now(); + marker.ns = "LineObstacles"; + marker.id = idx++; + marker.type = visualization_msgs::msg::Marker::LINE_STRIP; + marker.action = visualization_msgs::msg::Marker::ADD; + marker.lifetime = rclcpp::Duration(2, 0); + marker.pose.orientation.w = 1.0; + + geometry_msgs::msg::Point start; + start.x = pobst->start().x(); + start.y = pobst->start().y(); + start.z = 0; + marker.points.push_back(start); + geometry_msgs::msg::Point end; + end.x = pobst->end().x(); + end.y = pobst->end().y(); + end.z = 0; + marker.points.push_back(end); + + marker.scale.x = 0.1; + marker.scale.y = 0.1; + marker.color.a = 1.0; + marker.color.r = 0.0; + marker.color.g = 1.0; + marker.color.b = 0.0; + + teb_marker_pub_->publish( marker ); + } + } + + + // Visualize polygon obstacles + { + std::size_t idx = 0; + for (ObstContainer::const_iterator obst = obstacles.begin(); obst != obstacles.end(); ++obst) + { + std::shared_ptr pobst = std::dynamic_pointer_cast(*obst); + if (!pobst) + continue; + + visualization_msgs::msg::Marker marker; + marker.header.frame_id = cfg_->map_frame; + marker.header.stamp = nh_->now(); + marker.ns = "PolyObstacles"; + marker.id = idx++; + marker.type = visualization_msgs::msg::Marker::LINE_STRIP; + marker.action = visualization_msgs::msg::Marker::ADD; + marker.lifetime = rclcpp::Duration(2, 0); + marker.pose.orientation.w = 1.0; + + for (Point2dContainer::const_iterator vertex = pobst->vertices().begin(); vertex != pobst->vertices().end(); ++vertex) + { + geometry_msgs::msg::Point point; + point.x = vertex->x(); + point.y = vertex->y(); + point.z = 0; + marker.points.push_back(point); + } + + // Also add last point to close the polygon + // but only if polygon has more than 2 points (it is not a line) + if (pobst->vertices().size() > 2) + { + geometry_msgs::msg::Point point; + point.x = pobst->vertices().front().x(); + point.y = pobst->vertices().front().y(); + point.z = 0; + marker.points.push_back(point); + } + marker.scale.x = 0.1; + marker.scale.y = 0.1; + marker.color.a = 1.0; + marker.color.r = 1.0; + marker.color.g = 0.0; + marker.color.b = 0.0; + + teb_marker_pub_->publish( marker ); + } + } +} + + +void TebVisualization::publishViaPoints(const std::vector< Eigen::Vector2d, Eigen::aligned_allocator >& via_points, const std::string& ns) const +{ + if ( via_points.empty() || printErrorWhenNotInitialized() ) + return; + + visualization_msgs::msg::Marker marker; + marker.header.frame_id = cfg_->map_frame; + marker.header.stamp = nh_->now(); + marker.ns = ns; + marker.id = 0; + marker.type = visualization_msgs::msg::Marker::POINTS; + marker.action = visualization_msgs::msg::Marker::ADD; + marker.lifetime = rclcpp::Duration(2, 0); + marker.pose.orientation.w = 1.0; + + for (std::size_t i=0; i < via_points.size(); ++i) + { + geometry_msgs::msg::Point point; + point.x = via_points[i].x(); + point.y = via_points[i].y(); + point.z = 0; + marker.points.push_back(point); + } + + marker.scale.x = 0.1; + marker.scale.y = 0.1; + marker.color.a = 1.0; + marker.color.r = 0.0; + marker.color.g = 0.0; + marker.color.b = 1.0; + + teb_marker_pub_->publish( marker ); +} + +void TebVisualization::publishTebContainer(const TebOptPlannerContainer& teb_planner, const std::string& ns) +{ +if ( printErrorWhenNotInitialized() ) + return; + + visualization_msgs::msg::Marker marker; + marker.header.frame_id = cfg_->map_frame; + marker.header.stamp = nh_->now(); + marker.ns = ns; + marker.id = 0; + marker.type = visualization_msgs::msg::Marker::LINE_LIST; + marker.action = visualization_msgs::msg::Marker::ADD; + marker.pose.orientation.w = 1.0; + + // Iterate through teb pose sequence + for( TebOptPlannerContainer::const_iterator it_teb = teb_planner.begin(); it_teb != teb_planner.end(); ++it_teb ) + { + // iterate single poses + PoseSequence::const_iterator it_pose = it_teb->get()->teb().poses().begin(); + TimeDiffSequence::const_iterator it_timediff = it_teb->get()->teb().timediffs().begin(); + PoseSequence::const_iterator it_pose_end = it_teb->get()->teb().poses().end(); + std::advance(it_pose_end, -1); // since we are interested in line segments, reduce end iterator by one. + double time = 0; + + while (it_pose != it_pose_end) + { + geometry_msgs::msg::Point point_start; + point_start.x = (*it_pose)->x(); + point_start.y = (*it_pose)->y(); + point_start.z = cfg_->hcp.visualize_with_time_as_z_axis_scale*time; + marker.points.push_back(point_start); + + time += (*it_timediff)->dt(); + + geometry_msgs::msg::Point point_end; + point_end.x = (*boost::next(it_pose))->x(); + point_end.y = (*boost::next(it_pose))->y(); + point_end.z = cfg_->hcp.visualize_with_time_as_z_axis_scale*time; + marker.points.push_back(point_end); + ++it_pose; + ++it_timediff; + } + } + marker.scale.x = 0.01; + marker.color.a = 1.0; + marker.color.r = 0.5; + marker.color.g = 1.0; + marker.color.b = 0.0; + + teb_marker_pub_->publish( marker ); +} + +void TebVisualization::publishFeedbackMessage(const std::vector< std::shared_ptr >& teb_planners, + unsigned int selected_trajectory_idx, const ObstContainer& obstacles) +{ + teb_msgs::msg::FeedbackMsg msg; + msg.header.stamp = nh_->now(); + msg.header.frame_id = cfg_->map_frame; + msg.selected_trajectory_idx = selected_trajectory_idx; + + + msg.trajectories.resize(teb_planners.size()); + + // Iterate through teb pose sequence + std::size_t idx_traj = 0; + for( TebOptPlannerContainer::const_iterator it_teb = teb_planners.begin(); it_teb != teb_planners.end(); ++it_teb, ++idx_traj ) + { + msg.trajectories[idx_traj].header = msg.header; + it_teb->get()->getFullTrajectory(msg.trajectories[idx_traj].trajectory); + } + + // add obstacles + msg.obstacles_msg.obstacles.resize(obstacles.size()); + for (std::size_t i=0; itoPolygonMsg(msg.obstacles_msg.obstacles[i].polygon); + + // copy id + msg.obstacles_msg.obstacles[i].id = i; // TODO: we do not have any id stored yet + + // orientation + //msg.obstacles_msg.obstacles[i].orientation =; // TODO + + // copy velocities + obstacles[i]->toTwistWithCovarianceMsg(msg.obstacles_msg.obstacles[i].velocities); + } + + feedback_pub_->publish(msg); +} + +void TebVisualization::publishFeedbackMessage(const TebOptimalPlanner& teb_planner, const ObstContainer& obstacles) +{ + teb_msgs::msg::FeedbackMsg msg; + msg.header.stamp = nh_->now(); + msg.header.frame_id = cfg_->map_frame; + msg.selected_trajectory_idx = 0; + + msg.trajectories.resize(1); + msg.trajectories.front().header = msg.header; + teb_planner.getFullTrajectory(msg.trajectories.front().trajectory); + + // add obstacles + msg.obstacles_msg.obstacles.resize(obstacles.size()); + for (std::size_t i=0; itoPolygonMsg(msg.obstacles_msg.obstacles[i].polygon); + + // copy id + msg.obstacles_msg.obstacles[i].id = i; // TODO: we do not have any id stored yet + + // orientation + //msg.obstacles_msg.obstacles[i].orientation =; // TODO + + // copy velocities + obstacles[i]->toTwistWithCovarianceMsg(msg.obstacles_msg.obstacles[i].velocities); + } + + feedback_pub_->publish(msg); +} + +std_msgs::msg::ColorRGBA TebVisualization::toColorMsg(double a, double r, double g, double b) +{ + std_msgs::msg::ColorRGBA color; + color.a = a; + color.r = r; + color.g = g; + color.b = b; + return color; +} + +bool TebVisualization::printErrorWhenNotInitialized() const +{ + if (!initialized_) + { + RCLCPP_ERROR(nh_->get_logger(), "TebVisualization class not initialized. You must call initialize or an appropriate constructor"); + return true; + } + return false; +} + +nav2_util::CallbackReturn TebVisualization::on_configure() +{ + // register topics + global_plan_pub_ = nh_->create_publisher("global_plan", 1);; + local_plan_pub_ = nh_->create_publisher("local_plan",1); + teb_poses_pub_ = nh_->create_publisher("teb_poses", 1); + teb_marker_pub_ = nh_->create_publisher("teb_markers", 1); + feedback_pub_ = nh_->create_publisher("teb_feedback", 1); + + initialized_ = true; + return nav2_util::CallbackReturn::SUCCESS; +} + +nav2_util::CallbackReturn +TebVisualization::on_activate() +{ + global_plan_pub_->on_activate(); + local_plan_pub_->on_activate(); + teb_poses_pub_->on_activate(); + teb_marker_pub_->on_activate(); + feedback_pub_->on_activate(); + return nav2_util::CallbackReturn::SUCCESS; +} + +nav2_util::CallbackReturn +TebVisualization::on_deactivate() +{ + global_plan_pub_->on_deactivate(); + local_plan_pub_->on_deactivate(); + teb_poses_pub_->on_deactivate(); + teb_marker_pub_->on_deactivate(); + feedback_pub_->on_deactivate(); + return nav2_util::CallbackReturn::SUCCESS; +} + +nav2_util::CallbackReturn +TebVisualization::on_cleanup() +{ + global_plan_pub_.reset(); + local_plan_pub_.reset(); + teb_poses_pub_.reset(); + teb_marker_pub_.reset(); + feedback_pub_.reset(); + + return nav2_util::CallbackReturn::SUCCESS; +} + +} // namespace teb_local_planner diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/teb_local_planner_plugin.xml b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/teb_local_planner_plugin.xml new file mode 100644 index 0000000..45d0bdf --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/teb_local_planner_plugin.xml @@ -0,0 +1,9 @@ + + + + The teb_local_planner package implements a plugin + to the base_local_planner of the 2D navigation stack. + + + + diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/test/homotopy_class_planner_test.cpp b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/test/homotopy_class_planner_test.cpp new file mode 100644 index 0000000..8f9251b --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/test/homotopy_class_planner_test.cpp @@ -0,0 +1,82 @@ +#include "teb_local_planner/homotopy_class_planner.h" +#include + +#include + +class HomotopyClassPlannerTest : public teb_local_planner::HomotopyClassPlanner { + public: + void SetUp(rclcpp::Node::SharedPtr node) { + teb_local_planner::RobotFootprintModelPtr robot_model; + teb_local_planner::TebVisualizationPtr visualization; + teb_local_planner::HomotopyClassPlannerPtr homotopy_class_planner; + + robot_model.reset(new teb_local_planner::CircularRobotFootprint(0.25)); + + obstacles.push_back( + teb_local_planner::ObstaclePtr(new teb_local_planner::PointObstacle(2, 2)) + ); + + obstacles.push_back( + teb_local_planner::ObstaclePtr(new teb_local_planner::PointObstacle(2, 3)) + ); + + obstacles.push_back( + teb_local_planner::ObstaclePtr(new teb_local_planner::PointObstacle(2, 4)) + ); + + visualization.reset( + new teb_local_planner::TebVisualization(node, cfg) + ); + + cfg.hcp.visualize_hc_graph = true; + + initialize(node, cfg, &obstacles, robot_model, visualization); + } + teb_local_planner::ObstContainer obstacles; + teb_local_planner::TebConfig cfg; +}; + +TEST(test, test) { + HomotopyClassPlannerTest test; + rclcpp::Node::SharedPtr node( new rclcpp::Node("test") ); + test.SetUp(node); + + using namespace teb_local_planner; + PoseSE2 start(0, 0, 0); + PoseSE2 goal(5, 5, 0); + geometry_msgs::msg::Twist twist; + twist.linear.x = 0; + twist.linear.y = 0; + twist.angular.z = 0; + + std::vector initial_plan; + + geometry_msgs::msg::PoseStamped start_pose; + geometry_msgs::msg::PoseStamped goal_pose; + + start.toPoseMsg(start_pose.pose); + goal.toPoseMsg(goal_pose.pose); + + initial_plan.push_back(start_pose); + initial_plan.push_back(goal_pose); + + test.plan(initial_plan, &twist, false); + //homotopy_class_planner_->exploreEquivalenceClassesAndInitTebs(start, goal, 0.3, &twist); + + rclcpp::Rate rate(10); + while(rclcpp::ok()) { + test.visualize(); + rclcpp::spin_some(node); + rate.sleep(); + } + + ASSERT_TRUE(true); +} + +int main(int argc, char** argv) { + rclcpp::init(argc, argv); + + testing::InitGoogleTest(&argc, argv); + + return RUN_ALL_TESTS(); +} \ No newline at end of file diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/test/teb_basics.cpp b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/test/teb_basics.cpp new file mode 100644 index 0000000..b490974 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/test/teb_basics.cpp @@ -0,0 +1,73 @@ +#include + +#include "teb_local_planner/timed_elastic_band.h" + +TEST(TEBBasic, autoResizeLargeValueAtEnd) +{ + double dt = 0.1; + double dt_hysteresis = dt/3.; + teb_local_planner::TimedElasticBand teb; + + teb.addPose(teb_local_planner::PoseSE2(0., 0., 0.)); + for (int i = 1; i < 10; ++i) { + teb.addPoseAndTimeDiff(teb_local_planner::PoseSE2(i * 1., 0., 0.), dt); + } + // add a pose with a large timediff as the last one + teb.addPoseAndTimeDiff(teb_local_planner::PoseSE2(10., 0., 0.), dt + 2*dt_hysteresis); + + // auto resize + test of the result + teb.autoResize(dt, dt_hysteresis, 3, 100, false); + for (int i = 0; i < teb.sizeTimeDiffs(); ++i) { + ASSERT_LE(teb.TimeDiff(i), dt + dt_hysteresis + 1e-3) << "dt is greater than allowed: " << i; + ASSERT_LE(dt - dt_hysteresis - 1e-3, teb.TimeDiff(i)) << "dt is less than allowed: " << i; + } +} + +TEST(TEBBasic, autoResizeSmallValueAtEnd) +{ + double dt = 0.1; + double dt_hysteresis = dt/3.; + teb_local_planner::TimedElasticBand teb; + + teb.addPose(teb_local_planner::PoseSE2(0., 0., 0.)); + for (int i = 1; i < 10; ++i) { + teb.addPoseAndTimeDiff(teb_local_planner::PoseSE2(i * 1., 0., 0.), dt); + } + // add a pose with a small timediff as the last one + teb.addPoseAndTimeDiff(teb_local_planner::PoseSE2(10., 0., 0.), dt - 2*dt_hysteresis); + + // auto resize + test of the result + teb.autoResize(dt, dt_hysteresis, 3, 100, false); + for (int i = 0; i < teb.sizeTimeDiffs(); ++i) { + ASSERT_LE(teb.TimeDiff(i), dt + dt_hysteresis + 1e-3) << "dt is greater than allowed: " << i; + ASSERT_LE(dt - dt_hysteresis - 1e-3, teb.TimeDiff(i)) << "dt is less than allowed: " << i; + } +} + +TEST(TEBBasic, autoResize) +{ + double dt = 0.1; + double dt_hysteresis = dt/3.; + teb_local_planner::TimedElasticBand teb; + + teb.addPose(teb_local_planner::PoseSE2(0., 0., 0.)); + for (int i = 1; i < 10; ++i) { + teb.addPoseAndTimeDiff(teb_local_planner::PoseSE2(i * 1., 0., 0.), dt); + } + // modify the timediff in the middle and add a pose with a smaller timediff as the last one + teb.TimeDiff(5) = dt + 2*dt_hysteresis; + teb.addPoseAndTimeDiff(teb_local_planner::PoseSE2(10., 0., 0.), dt - 2*dt_hysteresis); + + // auto resize + teb.autoResize(dt, dt_hysteresis, 3, 100, false); + for (int i = 0; i < teb.sizeTimeDiffs(); ++i) { + ASSERT_LE(teb.TimeDiff(i), dt + dt_hysteresis + 1e-3) << "dt is greater than allowed: " << i; + ASSERT_LE(dt - dt_hysteresis - 1e-3, teb.TimeDiff(i)) << "dt is less than allowed: " << i; + } +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_msgs/CMakeLists.txt b/src/rm_nav/rm_navigation/teb_local_planner/teb_msgs/CMakeLists.txt new file mode 100644 index 0000000..b3ad44e --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_msgs/CMakeLists.txt @@ -0,0 +1,28 @@ +cmake_minimum_required(VERSION 3.5) + +project(teb_msgs) + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake REQUIRED) +find_package(builtin_interfaces REQUIRED) +find_package(costmap_converter_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(std_msgs REQUIRED) +find_package(rosidl_default_generators REQUIRED) + +rosidl_generate_interfaces(teb_msgs + "msg/FeedbackMsg.msg" + "msg/TrajectoryMsg.msg" + "msg/TrajectoryPointMsg.msg" + DEPENDENCIES builtin_interfaces costmap_converter_msgs geometry_msgs std_msgs +) + +ament_package() diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_msgs/msg/FeedbackMsg.msg b/src/rm_nav/rm_navigation/teb_local_planner/teb_msgs/msg/FeedbackMsg.msg new file mode 100644 index 0000000..aa97c96 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_msgs/msg/FeedbackMsg.msg @@ -0,0 +1,15 @@ +# Message that contains intermediate results +# and diagnostics of the (predictive) planner. + +std_msgs/Header header + +# The planned trajectory (or if multiple plans exist, all of them) +teb_msgs/TrajectoryMsg[] trajectories + +# Index of the trajectory in 'trajectories' that is selected currently +uint16 selected_trajectory_idx + +# List of active obstacles +costmap_converter_msgs/ObstacleArrayMsg obstacles_msg + + diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_msgs/msg/TrajectoryMsg.msg b/src/rm_nav/rm_navigation/teb_local_planner/teb_msgs/msg/TrajectoryMsg.msg new file mode 100644 index 0000000..14bf608 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_msgs/msg/TrajectoryMsg.msg @@ -0,0 +1,6 @@ +# Message that contains a trajectory for mobile robot navigation + +std_msgs/Header header +teb_msgs/TrajectoryPointMsg[] trajectory + + diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_msgs/msg/TrajectoryPointMsg.msg b/src/rm_nav/rm_navigation/teb_local_planner/teb_msgs/msg/TrajectoryPointMsg.msg new file mode 100644 index 0000000..47b186a --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_msgs/msg/TrajectoryPointMsg.msg @@ -0,0 +1,21 @@ +# Message that contains single point on a trajectory suited for mobile navigation. +# The trajectory is described by a sequence of poses, velocities, +# accelerations and temporal information. + +# Why this message type? +# nav_msgs/Path describes only a path without temporal information. +# trajectory_msgs package contains only messages for joint trajectories. + +# The pose of the robot +geometry_msgs/Pose pose + +# Corresponding velocity +geometry_msgs/Twist velocity + +# Corresponding acceleration +geometry_msgs/Twist acceleration + +builtin_interfaces/Duration time_from_start + + + diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_msgs/package.xml b/src/rm_nav/rm_navigation/teb_local_planner/teb_msgs/package.xml new file mode 100644 index 0000000..9cfb7d0 --- /dev/null +++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_msgs/package.xml @@ -0,0 +1,32 @@ + + + + teb_msgs + 0.0.1 + A package containing message definitions for teb_local_planner. + Vinnam Kim + Apache License 2.0 + + ament_cmake + + rosidl_default_generators + + builtin_interfaces + costmap_converter_msgs + geometry_msgs + std_msgs + + builtin_interfaces + costmap_converter_msgs + geometry_msgs + rosidl_default_runtime + std_msgs + + ament_lint_common + + rosidl_interface_packages + + + ament_cmake + + \ No newline at end of file diff --git a/src/rm_nav/rm_perception/imu_complementary_filter/CHANGELOG.rst b/src/rm_nav/rm_perception/imu_complementary_filter/CHANGELOG.rst new file mode 100644 index 0000000..d2aede6 --- /dev/null +++ b/src/rm_nav/rm_perception/imu_complementary_filter/CHANGELOG.rst @@ -0,0 +1,128 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package imu_complementary_filter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.1.3 (2022-12-07) +------------------ +* complementary: Build shared library + See `#172 `_. +* Update CMakeLists to use targets +* Remove node\_ prefix. (`#163 `_) +* Contributors: Martin Günther, Max Polzin + +2.1.2 (2022-07-14) +------------------ + +2.1.1 (2022-05-24) +------------------ +* Add missing build dependency to package.xml. (`#161 `_) +* Contributors: Martin Günther, Steven! Ragnarök + +2.1.0 (2022-05-02) +------------------ +* complementary: Add missing dependency on geometry_msgs +* Contributors: Martin Günther + +2.0.0 (2022-04-12) +------------------ +* Initial release into ROS2 foxy, galactic and rolling +* Fix gcc warnings + clang-tidy suggestions +* Fix CMakeLists +* Reformat python code using black +* Manually reformat licenses + defines +* Reformat everything using clang-format +* Fix trailing whitespace +* Add launch directory to CMakeLists.txt (`#146 `_) +* Port imu_complementary_filter to ROS2 (`#138 `_) +* Madgwick for eloquent (`#110 `_) +* Contributors: Guido Sanchez, Martin Günther, Maximilian Schik, tgreier + +1.2.2 (2020-05-25) +------------------ +* fix install path & boost linkage issues +* Contributors: Martin Günther, Sean Yen + +1.2.1 (2019-05-06) +------------------ +* Remove junk xml (`#93 `_) +* Fix C++14 builds (`#89 `_) +* Contributors: David V. Lu!!, Paul Bovbel + +1.2.0 (2018-05-25) +------------------ +* Add std dev parameter to orientation estimate from filter (`#85 `_) + Similar to `#41 `_, but not using dynamic_reconfigure as not implemented for complementary filter +* Contributors: Stefan Kohlbrecher + +1.1.5 (2017-05-24) +------------------ + +1.1.4 (2017-05-22) +------------------ + +1.1.3 (2017-03-10) +------------------ +* complementary_filter: move const initializations out of header + Initialization of static consts other than int (here: float) inside the + class declaration is not permitted in C++. It works in gcc (due to a + non-standard extension), but throws an error in C++11. +* Contributors: Martin Guenther + +1.1.2 (2016-09-07) +------------------ + +1.1.1 (2016-09-07) +------------------ + +1.1.0 (2016-04-25) +------------------ + +1.0.11 (2016-04-22) +------------------- + +1.0.10 (2016-04-22) +------------------- +* Remove Eigen dependency + Eigen is not actually used anywhere. Thanks @asimay! +* Removed main function from shared library +* Contributors: Martin Guenther, Matthias Nieuwenhuisen + +1.0.9 (2015-10-16) +------------------ +* complementary: Add Eigen dependency + Fixes `#54 `_. +* Contributors: Martin Günther + +1.0.8 (2015-10-07) +------------------ + +1.0.7 (2015-10-07) +------------------ +* Allow remapping imu namespace +* Publish RPY as Vector3Stamped +* Add params: constant_dt, publish_tf, reverse_tf, publish_debug_topics +* Use MagneticField instead of Vector3 +* Contributors: Martin Günther + +1.0.6 (2015-10-06) +------------------ +* Add new package: imu_complementary_filter +* Contributors: Roberto G. Valentini, Martin Günther, Michael Görner + +1.0.5 (2015-06-24) +------------------ + +1.0.4 (2015-05-06) +------------------ + +1.0.3 (2015-01-29) +------------------ + +1.0.2 (2015-01-27) +------------------ + +1.0.1 (2014-12-10) +------------------ + +1.0.0 (2014-11-28) +------------------ diff --git a/src/rm_nav/rm_perception/imu_complementary_filter/CMakeLists.txt b/src/rm_nav/rm_perception/imu_complementary_filter/CMakeLists.txt new file mode 100644 index 0000000..79aa917 --- /dev/null +++ b/src/rm_nav/rm_perception/imu_complementary_filter/CMakeLists.txt @@ -0,0 +1,77 @@ +cmake_minimum_required(VERSION 3.8) +project(imu_complementary_filter) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() +add_compile_options(-std=c++17 -O3) +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) + +find_package(ament_cmake REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(message_filters REQUIRED) +find_package(rclcpp REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(std_msgs REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_ros REQUIRED) + +add_library(complementary_filter SHARED + src/complementary_filter.cpp + src/complementary_filter_ros.cpp + include/imu_complementary_filter/complementary_filter.h + include/imu_complementary_filter/complementary_filter_ros.h +) +target_compile_features(complementary_filter PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 +target_include_directories(complementary_filter PUBLIC + $ + $) +ament_target_dependencies(complementary_filter + geometry_msgs + message_filters + rclcpp + sensor_msgs + std_msgs + tf2 + tf2_ros +) +# Causes the visibility macros to use dllexport rather than dllimport, +# which is appropriate when building the dll but not consuming it. +target_compile_definitions(complementary_filter PRIVATE "IMU_COMPLEMENTARY_FILTER_BUILDING_LIBRARY") + +# create complementary_filter_node executable +add_executable(complementary_filter_node + src/complementary_filter_node.cpp) +target_include_directories(complementary_filter_node PUBLIC + $ + $) +target_link_libraries(complementary_filter_node complementary_filter) + +install( + TARGETS complementary_filter + EXPORT export_${PROJECT_NAME} + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin +) +install(TARGETS + complementary_filter_node + DESTINATION lib/${PROJECT_NAME} +) + +## Mark cpp header files for installation +install( + DIRECTORY include/ + DESTINATION include +) + +install(DIRECTORY launch + DESTINATION share/${PROJECT_NAME} +) + +ament_export_include_directories(include) +ament_export_libraries(complementary_filter) +ament_export_targets( + export_${PROJECT_NAME} +) +ament_package() diff --git a/src/rm_nav/rm_perception/imu_complementary_filter/include/imu_complementary_filter/complementary_filter.h b/src/rm_nav/rm_perception/imu_complementary_filter/include/imu_complementary_filter/complementary_filter.h new file mode 100644 index 0000000..4758cad --- /dev/null +++ b/src/rm_nav/rm_perception/imu_complementary_filter/include/imu_complementary_filter/complementary_filter.h @@ -0,0 +1,175 @@ +/* + @author Roberto G. Valenti + + @section LICENSE + Copyright (c) 2015, City University of New York + CCNY Robotics Lab + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef IMU_TOOLS_COMPLEMENTARY_FILTER_H +#define IMU_TOOLS_COMPLEMENTARY_FILTER_H + +namespace imu_tools { + +class ComplementaryFilter +{ + public: + ComplementaryFilter(); + virtual ~ComplementaryFilter(); + + bool setGainAcc(double gain); + bool setGainMag(double gain); + double getGainAcc() const; + double getGainMag() const; + + bool setBiasAlpha(double bias_alpha); + double getBiasAlpha() const; + + // When the filter is in the steady state, bias estimation will occur (if + // the parameter is enabled). + bool getSteadyState() const; + + void setDoBiasEstimation(bool do_bias_estimation); + bool getDoBiasEstimation() const; + + void setDoAdaptiveGain(bool do_adaptive_gain); + bool getDoAdaptiveGain() const; + + double getAngularVelocityBiasX() const; + double getAngularVelocityBiasY() const; + double getAngularVelocityBiasZ() const; + + // Set the orientation, as a Hamilton Quaternion, of the body frame wrt the + // fixed frame. + void setOrientation(double q0, double q1, double q2, double q3); + + // Get the orientation, as a Hamilton Quaternion, of the body frame wrt the + // fixed frame. + void getOrientation(double& q0, double& q1, double& q2, double& q3) const; + + // Update from accelerometer and gyroscope data. + // [ax, ay, az]: Normalized gravity vector. + // [wx, wy, wz]: Angular veloctiy, in rad / s. + // dt: time delta, in seconds. + void update(double ax, double ay, double az, double wx, double wy, + double wz, double dt); + + // Update from accelerometer, gyroscope, and magnetometer data. + // [ax, ay, az]: Normalized gravity vector. + // [wx, wy, wz]: Angular veloctiy, in rad / s. + // [mx, my, mz]: Magnetic field, units irrelevant. + // dt: time delta, in seconds. + void update(double ax, double ay, double az, double wx, double wy, + double wz, double mx, double my, double mz, double dt); + + private: + static const double kGravity; + static const double gamma_; + // Bias estimation steady state thresholds + static const double kAngularVelocityThreshold; + static const double kAccelerationThreshold; + static const double kDeltaAngularVelocityThreshold; + + // Gain parameter for the complementary filter, belongs in [0, 1]. + double gain_acc_; + double gain_mag_; + + // Bias estimation gain parameter, belongs in [0, 1]. + double bias_alpha_; + + // Parameter whether to do bias estimation or not. + bool do_bias_estimation_; + + // Parameter whether to do adaptive gain or not. + bool do_adaptive_gain_; + + bool initialized_; + bool steady_state_; + + // The orientation as a Hamilton quaternion (q0 is the scalar). Represents + // the orientation of the fixed frame wrt the body frame. + double q0_, q1_, q2_, q3_; + + // Bias in angular velocities; + double wx_prev_, wy_prev_, wz_prev_; + + // Bias in angular velocities; + double wx_bias_, wy_bias_, wz_bias_; + + void updateBiases(double ax, double ay, double az, double wx, double wy, + double wz); + + bool checkState(double ax, double ay, double az, double wx, double wy, + double wz) const; + + void getPrediction(double wx, double wy, double wz, double dt, + double& q0_pred, double& q1_pred, double& q2_pred, + double& q3_pred) const; + + void getMeasurement(double ax, double ay, double az, double& q0_meas, + double& q1_meas, double& q2_meas, double& q3_meas); + + void getMeasurement(double ax, double ay, double az, double mx, double my, + double mz, double& q0_meas, double& q1_meas, + double& q2_meas, double& q3_meas); + + void getAccCorrection(double ax, double ay, double az, double p0, double p1, + double p2, double p3, double& dq0, double& dq1, + double& dq2, double& dq3); + + void getMagCorrection(double mx, double my, double mz, double p0, double p1, + double p2, double p3, double& dq0, double& dq1, + double& dq2, double& dq3); + + double getAdaptiveGain(double alpha, double ax, double ay, double az); +}; + +// Utility math functions: + +void normalizeVector(double& x, double& y, double& z); + +void normalizeQuaternion(double& q0, double& q1, double& q2, double& q3); + +void scaleQuaternion(double gain, double& dq0, double& dq1, double& dq2, + double& dq3); + +void invertQuaternion(double q0, double q1, double q2, double q3, + double& q0_inv, double& q1_inv, double& q2_inv, + double& q3_inv); + +void quaternionMultiplication(double p0, double p1, double p2, double p3, + double q0, double q1, double q2, double q3, + double& r0, double& r1, double& r2, double& r3); + +void rotateVectorByQuaternion(double x, double y, double z, double q0, + double q1, double q2, double q3, double& vx, + double& vy, double& vz); + +} // namespace imu_tools + +#endif // IMU_TOOLS_COMPLEMENTARY_FILTER_H diff --git a/src/rm_nav/rm_perception/imu_complementary_filter/include/imu_complementary_filter/complementary_filter_ros.h b/src/rm_nav/rm_perception/imu_complementary_filter/include/imu_complementary_filter/complementary_filter_ros.h new file mode 100644 index 0000000..9c9a44f --- /dev/null +++ b/src/rm_nav/rm_perception/imu_complementary_filter/include/imu_complementary_filter/complementary_filter_ros.h @@ -0,0 +1,107 @@ +/* + @author Roberto G. Valenti + + @section LICENSE + Copyright (c) 2015, City University of New York + CCNY Robotics Lab + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef IMU_TOOLS_COMPLEMENTARY_FILTER_ROS_H +#define IMU_TOOLS_COMPLEMENTARY_FILTER_ROS_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "imu_complementary_filter/complementary_filter.h" + +namespace imu_tools { + +class ComplementaryFilterROS : public rclcpp::Node +{ + public: + ComplementaryFilterROS(); + ~ComplementaryFilterROS() override; + + private: + // Convenience typedefs + typedef sensor_msgs::msg::Imu ImuMsg; + typedef sensor_msgs::msg::MagneticField MagMsg; + typedef geometry_msgs::msg::Vector3Stamped RpyVectorMsg; + typedef message_filters::sync_policies::ApproximateTime + SyncPolicy; + typedef message_filters::Synchronizer Synchronizer; + typedef message_filters::Subscriber ImuSubscriber; + typedef message_filters::Subscriber MagSubscriber; + + // ROS-related variables. + std::shared_ptr imu_subscriber_; + std::shared_ptr mag_subscriber_; + std::shared_ptr sync_; + + rclcpp::Publisher::SharedPtr imu_publisher_; + rclcpp::Publisher::SharedPtr rpy_publisher_; + rclcpp::Publisher::SharedPtr state_publisher_; + tf2_ros::TransformBroadcaster tf_broadcaster_; + + // Parameters: + bool use_mag_{}; + bool publish_tf_{}; + bool reverse_tf_{}; + double constant_dt_{}; + bool publish_debug_topics_{}; + std::string fixed_frame_; + double orientation_variance_{}; + + // State variables: + ComplementaryFilter filter_; + rclcpp::Time time_prev_; + bool initialized_filter_; + + void initializeParams(); + void imuCallback(ImuMsg::ConstSharedPtr imu_msg_raw); + void imuMagCallback(ImuMsg::ConstSharedPtr imu_msg_raw, + MagMsg::ConstSharedPtr mav_msg); + void publish(ImuMsg::ConstSharedPtr imu_msg_raw); + + tf2::Quaternion hamiltonToTFQuaternion(double q0, double q1, double q2, + double q3) const; +}; + +} // namespace imu_tools + +#endif // IMU_TOOLS_COMPLEMENTARY_FILTER_ROS_H diff --git a/src/rm_nav/rm_perception/imu_complementary_filter/launch/complementary_filter.launch.py b/src/rm_nav/rm_perception/imu_complementary_filter/launch/complementary_filter.launch.py new file mode 100644 index 0000000..8a10720 --- /dev/null +++ b/src/rm_nav/rm_perception/imu_complementary_filter/launch/complementary_filter.launch.py @@ -0,0 +1,25 @@ +from launch import LaunchDescription +from launch_ros.actions import Node + + +def generate_launch_description(): + return LaunchDescription( + [ + Node( + package='imu_complementary_filter', + executable='complementary_filter_node', + name='complementary_filter_gain_node', + output='screen', + parameters=[ + {'do_bias_estimation': True}, + {'do_adaptive_gain': True}, + {'use_mag': False}, + {'gain_acc': 0.01}, + {'gain_mag': 0.01}, + ], + remappings=[ + ('/imu/data_raw', '/livox/imu'), + ] + ) + ] + ) diff --git a/src/rm_nav/rm_perception/imu_complementary_filter/package.xml b/src/rm_nav/rm_perception/imu_complementary_filter/package.xml new file mode 100644 index 0000000..d3c7951 --- /dev/null +++ b/src/rm_nav/rm_perception/imu_complementary_filter/package.xml @@ -0,0 +1,24 @@ + + + imu_complementary_filter + 2.1.3 + Filter which fuses angular velocities, accelerations, and (optionally) magnetic readings from a generic IMU device into a quaternion to represent the orientation of the device wrt the global frame. Based on the algorithm by Roberto G. Valenti etal. described in the paper "Keeping a Good Attitude: A Quaternion-Based Orientation Filter for IMUs and MARGs" available at http://www.mdpi.com/1424-8220/15/8/19302 . + + Martin Günther + BSD + + http://www.mdpi.com/1424-8220/15/8/19302 + Roberto G. Valenti + + ament_cmake + geometry_msgs + message_filters + rclcpp + sensor_msgs + std_msgs + tf2 + tf2_ros + + ament_cmake + + diff --git a/src/rm_nav/rm_perception/imu_complementary_filter/src/complementary_filter.cpp b/src/rm_nav/rm_perception/imu_complementary_filter/src/complementary_filter.cpp new file mode 100644 index 0000000..1581ed9 --- /dev/null +++ b/src/rm_nav/rm_perception/imu_complementary_filter/src/complementary_filter.cpp @@ -0,0 +1,535 @@ +/* + @author Roberto G. Valenti + + @section LICENSE + Copyright (c) 2015, City University of New York + CCNY Robotics Lab + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + +#include "imu_complementary_filter/complementary_filter.h" + +#include +#include +#include + +namespace imu_tools { + +const double ComplementaryFilter::kGravity = 9.81; +const double ComplementaryFilter::gamma_ = 0.01; +// Bias estimation steady state thresholds +const double ComplementaryFilter::kAngularVelocityThreshold = 0.2; +const double ComplementaryFilter::kAccelerationThreshold = 0.1; +const double ComplementaryFilter::kDeltaAngularVelocityThreshold = 0.01; + +ComplementaryFilter::ComplementaryFilter() + : gain_acc_(0.01), + gain_mag_(0.01), + bias_alpha_(0.01), + do_bias_estimation_(true), + do_adaptive_gain_(false), + initialized_(false), + steady_state_(false), + q0_(1), + q1_(0), + q2_(0), + q3_(0), + wx_prev_(0), + wy_prev_(0), + wz_prev_(0), + wx_bias_(0), + wy_bias_(0), + wz_bias_(0) +{ +} + +ComplementaryFilter::~ComplementaryFilter() = default; + +void ComplementaryFilter::setDoBiasEstimation(bool do_bias_estimation) +{ + do_bias_estimation_ = do_bias_estimation; +} + +bool ComplementaryFilter::getDoBiasEstimation() const +{ + return do_bias_estimation_; +} + +void ComplementaryFilter::setDoAdaptiveGain(bool do_adaptive_gain) +{ + do_adaptive_gain_ = do_adaptive_gain; +} + +bool ComplementaryFilter::getDoAdaptiveGain() const +{ + return do_adaptive_gain_; +} + +bool ComplementaryFilter::setGainAcc(double gain) +{ + if (gain >= 0 && gain <= 1.0) + { + gain_acc_ = gain; + return true; + } else + return false; +} +bool ComplementaryFilter::setGainMag(double gain) +{ + if (gain >= 0 && gain <= 1.0) + { + gain_mag_ = gain; + return true; + } else + return false; +} + +double ComplementaryFilter::getGainAcc() const +{ + return gain_acc_; +} + +double ComplementaryFilter::getGainMag() const +{ + return gain_mag_; +} + +bool ComplementaryFilter::getSteadyState() const +{ + return steady_state_; +} + +bool ComplementaryFilter::setBiasAlpha(double bias_alpha) +{ + if (bias_alpha >= 0 && bias_alpha <= 1.0) + { + bias_alpha_ = bias_alpha; + return true; + } else + return false; +} + +double ComplementaryFilter::getBiasAlpha() const +{ + return bias_alpha_; +} + +void ComplementaryFilter::setOrientation(double q0, double q1, double q2, + double q3) +{ + // Set the state to inverse (state is fixed wrt body). + invertQuaternion(q0, q1, q2, q3, q0_, q1_, q2_, q3_); +} + +double ComplementaryFilter::getAngularVelocityBiasX() const +{ + return wx_bias_; +} + +double ComplementaryFilter::getAngularVelocityBiasY() const +{ + return wy_bias_; +} + +double ComplementaryFilter::getAngularVelocityBiasZ() const +{ + return wz_bias_; +} + +void ComplementaryFilter::update(double ax, double ay, double az, double wx, + double wy, double wz, double dt) +{ + if (!initialized_) + { + // First time - ignore prediction: + getMeasurement(ax, ay, az, q0_, q1_, q2_, q3_); + initialized_ = true; + return; + } + + // Bias estimation. + if (do_bias_estimation_) updateBiases(ax, ay, az, wx, wy, wz); + + // Prediction. + double q0_pred, q1_pred, q2_pred, q3_pred; + getPrediction(wx, wy, wz, dt, q0_pred, q1_pred, q2_pred, q3_pred); + + // Correction (from acc): + // q_ = q_pred * [(1-gain) * qI + gain * dq_acc] + // where qI = identity quaternion + double dq0_acc, dq1_acc, dq2_acc, dq3_acc; + getAccCorrection(ax, ay, az, q0_pred, q1_pred, q2_pred, q3_pred, dq0_acc, + dq1_acc, dq2_acc, dq3_acc); + + double gain; + if (do_adaptive_gain_) + { + gain = getAdaptiveGain(gain_acc_, ax, ay, az); + + } else + { + gain = gain_acc_; + } + + scaleQuaternion(gain, dq0_acc, dq1_acc, dq2_acc, dq3_acc); + + quaternionMultiplication(q0_pred, q1_pred, q2_pred, q3_pred, dq0_acc, + dq1_acc, dq2_acc, dq3_acc, q0_, q1_, q2_, q3_); + + normalizeQuaternion(q0_, q1_, q2_, q3_); +} + +void ComplementaryFilter::update(double ax, double ay, double az, double wx, + double wy, double wz, double mx, double my, + double mz, double dt) +{ + if (!initialized_) + { + // First time - ignore prediction: + getMeasurement(ax, ay, az, mx, my, mz, q0_, q1_, q2_, q3_); + initialized_ = true; + return; + } + + // Bias estimation. + if (do_bias_estimation_) updateBiases(ax, ay, az, wx, wy, wz); + + // Prediction. + double q0_pred, q1_pred, q2_pred, q3_pred; + getPrediction(wx, wy, wz, dt, q0_pred, q1_pred, q2_pred, q3_pred); + + // Correction (from acc): + // q_temp = q_pred * [(1-gain) * qI + gain * dq_acc] + // where qI = identity quaternion + double dq0_acc, dq1_acc, dq2_acc, dq3_acc; + getAccCorrection(ax, ay, az, q0_pred, q1_pred, q2_pred, q3_pred, dq0_acc, + dq1_acc, dq2_acc, dq3_acc); + double alpha = gain_acc_; + if (do_adaptive_gain_) alpha = getAdaptiveGain(gain_acc_, ax, ay, az); + scaleQuaternion(alpha, dq0_acc, dq1_acc, dq2_acc, dq3_acc); + + double q0_temp, q1_temp, q2_temp, q3_temp; + quaternionMultiplication(q0_pred, q1_pred, q2_pred, q3_pred, dq0_acc, + dq1_acc, dq2_acc, dq3_acc, q0_temp, q1_temp, + q2_temp, q3_temp); + + // Correction (from mag): + // q_ = q_temp * [(1-gain) * qI + gain * dq_mag] + // where qI = identity quaternion + double dq0_mag, dq1_mag, dq2_mag, dq3_mag; + getMagCorrection(mx, my, mz, q0_temp, q1_temp, q2_temp, q3_temp, dq0_mag, + dq1_mag, dq2_mag, dq3_mag); + + scaleQuaternion(gain_mag_, dq0_mag, dq1_mag, dq2_mag, dq3_mag); + + quaternionMultiplication(q0_temp, q1_temp, q2_temp, q3_temp, dq0_mag, + dq1_mag, dq2_mag, dq3_mag, q0_, q1_, q2_, q3_); + + normalizeQuaternion(q0_, q1_, q2_, q3_); +} + +bool ComplementaryFilter::checkState(double ax, double ay, double az, double wx, + double wy, double wz) const +{ + double acc_magnitude = sqrt(ax * ax + ay * ay + az * az); + if (fabs(acc_magnitude - kGravity) > kAccelerationThreshold) return false; + + if (fabs(wx - wx_prev_) > kDeltaAngularVelocityThreshold || + fabs(wy - wy_prev_) > kDeltaAngularVelocityThreshold || + fabs(wz - wz_prev_) > kDeltaAngularVelocityThreshold) + return false; + + if (fabs(wx - wx_bias_) > kAngularVelocityThreshold || + fabs(wy - wy_bias_) > kAngularVelocityThreshold || + fabs(wz - wz_bias_) > kAngularVelocityThreshold) + return false; + + return true; +} + +void ComplementaryFilter::updateBiases(double ax, double ay, double az, + double wx, double wy, double wz) +{ + steady_state_ = checkState(ax, ay, az, wx, wy, wz); + + if (steady_state_) + { + wx_bias_ += bias_alpha_ * (wx - wx_bias_); + wy_bias_ += bias_alpha_ * (wy - wy_bias_); + wz_bias_ += bias_alpha_ * (wz - wz_bias_); + } + + wx_prev_ = wx; + wy_prev_ = wy; + wz_prev_ = wz; +} + +void ComplementaryFilter::getPrediction(double wx, double wy, double wz, + double dt, double& q0_pred, + double& q1_pred, double& q2_pred, + double& q3_pred) const +{ + double wx_unb = wx - wx_bias_; + double wy_unb = wy - wy_bias_; + double wz_unb = wz - wz_bias_; + + q0_pred = q0_ + 0.5 * dt * (wx_unb * q1_ + wy_unb * q2_ + wz_unb * q3_); + q1_pred = q1_ + 0.5 * dt * (-wx_unb * q0_ - wy_unb * q3_ + wz_unb * q2_); + q2_pred = q2_ + 0.5 * dt * (wx_unb * q3_ - wy_unb * q0_ - wz_unb * q1_); + q3_pred = q3_ + 0.5 * dt * (-wx_unb * q2_ + wy_unb * q1_ - wz_unb * q0_); + + normalizeQuaternion(q0_pred, q1_pred, q2_pred, q3_pred); +} + +void ComplementaryFilter::getMeasurement(double ax, double ay, double az, + double mx, double my, double mz, + double& q0_meas, double& q1_meas, + double& q2_meas, double& q3_meas) +{ + // q_acc is the quaternion obtained from the acceleration vector + // representing the orientation of the Global frame wrt the Local frame with + // arbitrary yaw (intermediary frame). q3_acc is defined as 0. + double q0_acc, q1_acc, q2_acc, q3_acc; + + // Normalize acceleration vector. + normalizeVector(ax, ay, az); + if (az >= 0) + { + q0_acc = sqrt((az + 1) * 0.5); + q1_acc = -ay / (2.0 * q0_acc); + q2_acc = ax / (2.0 * q0_acc); + q3_acc = 0; + } else + { + double X = sqrt((1 - az) * 0.5); + q0_acc = -ay / (2.0 * X); + q1_acc = X; + q2_acc = 0; + q3_acc = ax / (2.0 * X); + } + + // [lx, ly, lz] is the magnetic field reading, rotated into the intermediary + // frame by the inverse of q_acc. + // l = R(q_acc)^-1 m + double lx = (q0_acc * q0_acc + q1_acc * q1_acc - q2_acc * q2_acc) * mx + + 2.0 * (q1_acc * q2_acc) * my - 2.0 * (q0_acc * q2_acc) * mz; + double ly = 2.0 * (q1_acc * q2_acc) * mx + + (q0_acc * q0_acc - q1_acc * q1_acc + q2_acc * q2_acc) * my + + 2.0 * (q0_acc * q1_acc) * mz; + + // q_mag is the quaternion that rotates the Global frame (North West Up) + // into the intermediary frame. q1_mag and q2_mag are defined as 0. + double gamma = lx * lx + ly * ly; + double beta = sqrt(gamma + lx * sqrt(gamma)); + double q0_mag = beta / (sqrt(2.0 * gamma)); + double q3_mag = ly / (sqrt(2.0) * beta); + + // The quaternion multiplication between q_acc and q_mag represents the + // quaternion, orientation of the Global frame wrt the local frame. + // q = q_acc times q_mag + quaternionMultiplication(q0_acc, q1_acc, q2_acc, q3_acc, q0_mag, 0, 0, + q3_mag, q0_meas, q1_meas, q2_meas, q3_meas); + // q0_meas = q0_acc*q0_mag; + // q1_meas = q1_acc*q0_mag + q2_acc*q3_mag; + // q2_meas = q2_acc*q0_mag - q1_acc*q3_mag; + // q3_meas = q0_acc*q3_mag; +} + +void ComplementaryFilter::getMeasurement(double ax, double ay, double az, + double& q0_meas, double& q1_meas, + double& q2_meas, double& q3_meas) +{ + // q_acc is the quaternion obtained from the acceleration vector + // representing the orientation of the Global frame wrt the Local frame with + // arbitrary yaw (intermediary frame). q3_acc is defined as 0. + + // Normalize acceleration vector. + normalizeVector(ax, ay, az); + + if (az >= 0) + { + q0_meas = sqrt((az + 1) * 0.5); + q1_meas = -ay / (2.0 * q0_meas); + q2_meas = ax / (2.0 * q0_meas); + q3_meas = 0; + } else + { + double X = sqrt((1 - az) * 0.5); + q0_meas = -ay / (2.0 * X); + q1_meas = X; + q2_meas = 0; + q3_meas = ax / (2.0 * X); + } +} + +void ComplementaryFilter::getAccCorrection(double ax, double ay, double az, + double p0, double p1, double p2, + double p3, double& dq0, double& dq1, + double& dq2, double& dq3) +{ + // Normalize acceleration vector. + normalizeVector(ax, ay, az); + + // Acceleration reading rotated into the world frame by the inverse + // predicted quaternion (predicted gravity): + double gx, gy, gz; + rotateVectorByQuaternion(ax, ay, az, p0, -p1, -p2, -p3, gx, gy, gz); + + // Delta quaternion that rotates the predicted gravity into the real + // gravity: + dq0 = sqrt((gz + 1) * 0.5); + dq1 = -gy / (2.0 * dq0); + dq2 = gx / (2.0 * dq0); + dq3 = 0.0; +} + +void ComplementaryFilter::getMagCorrection(double mx, double my, double mz, + double p0, double p1, double p2, + double p3, double& dq0, double& dq1, + double& dq2, double& dq3) +{ + // Magnetic reading rotated into the world frame by the inverse predicted + // quaternion: + double lx, ly, lz; + rotateVectorByQuaternion(mx, my, mz, p0, -p1, -p2, -p3, lx, ly, lz); + + // Delta quaternion that rotates the l so that it lies in the xz-plane + // (points north): + double gamma = lx * lx + ly * ly; + double beta = sqrt(gamma + lx * sqrt(gamma)); + dq0 = beta / (sqrt(2.0 * gamma)); + dq1 = 0.0; + dq2 = 0.0; + dq3 = ly / (sqrt(2.0) * beta); +} + +void ComplementaryFilter::getOrientation(double& q0, double& q1, double& q2, + double& q3) const +{ + // Return the inverse of the state (state is fixed wrt body). + invertQuaternion(q0_, q1_, q2_, q3_, q0, q1, q2, q3); +} + +double ComplementaryFilter::getAdaptiveGain(double alpha, double ax, double ay, + double az) +{ + double a_mag = sqrt(ax * ax + ay * ay + az * az); + double error = fabs(a_mag - kGravity) / kGravity; + double factor; + double error1 = 0.1; + double error2 = 0.2; + double m = 1.0 / (error1 - error2); + double b = 1.0 - m * error1; + if (error < error1) + factor = 1.0; + else if (error < error2) + factor = m * error + b; + else + factor = 0.0; + // printf("FACTOR: %f \n", factor); + return factor * alpha; +} + +void normalizeVector(double& x, double& y, double& z) +{ + double norm = sqrt(x * x + y * y + z * z); + + x /= norm; + y /= norm; + z /= norm; +} + +void normalizeQuaternion(double& q0, double& q1, double& q2, double& q3) +{ + double norm = sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); + q0 /= norm; + q1 /= norm; + q2 /= norm; + q3 /= norm; +} + +void invertQuaternion(double q0, double q1, double q2, double q3, + double& q0_inv, double& q1_inv, double& q2_inv, + double& q3_inv) +{ + // Assumes quaternion is normalized. + q0_inv = q0; + q1_inv = -q1; + q2_inv = -q2; + q3_inv = -q3; +} + +void scaleQuaternion(double gain, double& dq0, double& dq1, double& dq2, + double& dq3) +{ + if (dq0 < 0.0) // 0.9 + { + // Slerp (Spherical linear interpolation): + double angle = acos(dq0); + double A = sin(angle * (1.0 - gain)) / sin(angle); + double B = sin(angle * gain) / sin(angle); + dq0 = A + B * dq0; + dq1 = B * dq1; + dq2 = B * dq2; + dq3 = B * dq3; + } else + { + // Lerp (Linear interpolation): + dq0 = (1.0 - gain) + gain * dq0; + dq1 = gain * dq1; + dq2 = gain * dq2; + dq3 = gain * dq3; + } + + normalizeQuaternion(dq0, dq1, dq2, dq3); +} + +void quaternionMultiplication(double p0, double p1, double p2, double p3, + double q0, double q1, double q2, double q3, + double& r0, double& r1, double& r2, double& r3) +{ + // r = p q + r0 = p0 * q0 - p1 * q1 - p2 * q2 - p3 * q3; + r1 = p0 * q1 + p1 * q0 + p2 * q3 - p3 * q2; + r2 = p0 * q2 - p1 * q3 + p2 * q0 + p3 * q1; + r3 = p0 * q3 + p1 * q2 - p2 * q1 + p3 * q0; +} + +void rotateVectorByQuaternion(double x, double y, double z, double q0, + double q1, double q2, double q3, double& vx, + double& vy, double& vz) +{ + vx = (q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3) * x + + 2 * (q1 * q2 - q0 * q3) * y + 2 * (q1 * q3 + q0 * q2) * z; + vy = 2 * (q1 * q2 + q0 * q3) * x + + (q0 * q0 - q1 * q1 + q2 * q2 - q3 * q3) * y + + 2 * (q2 * q3 - q0 * q1) * z; + vz = 2 * (q1 * q3 - q0 * q2) * x + 2 * (q2 * q3 + q0 * q1) * y + + (q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3) * z; +} + +} // namespace imu_tools diff --git a/src/rm_nav/rm_perception/imu_complementary_filter/src/complementary_filter_node.cpp b/src/rm_nav/rm_perception/imu_complementary_filter/src/complementary_filter_node.cpp new file mode 100644 index 0000000..4f90284 --- /dev/null +++ b/src/rm_nav/rm_perception/imu_complementary_filter/src/complementary_filter_node.cpp @@ -0,0 +1,43 @@ +/* + @author Roberto G. Valenti + + @section LICENSE + Copyright (c) 2015, City University of New York + CCNY Robotics Lab + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + +#include "imu_complementary_filter/complementary_filter_ros.h" + +int main(int argc, char **argv) +{ + rclcpp::init(argc, argv); + auto filter = std::make_shared(); + rclcpp::spin(filter); + rclcpp::shutdown(); + return 0; +} diff --git a/src/rm_nav/rm_perception/imu_complementary_filter/src/complementary_filter_ros.cpp b/src/rm_nav/rm_perception/imu_complementary_filter/src/complementary_filter_ros.cpp new file mode 100644 index 0000000..e8a9dd7 --- /dev/null +++ b/src/rm_nav/rm_perception/imu_complementary_filter/src/complementary_filter_ros.cpp @@ -0,0 +1,305 @@ +/* + @author Roberto G. Valenti + + @section LICENSE + Copyright (c) 2015, City University of New York + CCNY Robotics Lab + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + +#include "imu_complementary_filter/complementary_filter_ros.h" + +#include +#include +#include +#include +#include + +namespace imu_tools { + +ComplementaryFilterROS::ComplementaryFilterROS() + : Node("ComplementaryFilterROS"), + tf_broadcaster_(this), + initialized_filter_(false) +{ + RCLCPP_INFO(this->get_logger(), "Starting ComplementaryFilterROS"); + initializeParams(); + + int queue_size = 5; + + // Register publishers: + // TODO: Check why ros::names::resolve is need here + imu_publisher_ = this->create_publisher("imu/data", queue_size); + + if (publish_debug_topics_) + { + rpy_publisher_ = + this->create_publisher( + "imu/rpy/filtered", queue_size); + + if (filter_.getDoBiasEstimation()) + { + state_publisher_ = this->create_publisher( + "/imu/steady_state", queue_size); + } + } + + // Register IMU raw data subscriber. + imu_subscriber_.reset(new ImuSubscriber(this, "/imu/data_raw")); + + // Register magnetic data subscriber. + if (use_mag_) + { + mag_subscriber_.reset(new MagSubscriber(this, "/imu/mag")); + + sync_.reset(new Synchronizer(SyncPolicy(queue_size), *imu_subscriber_, + *mag_subscriber_)); + sync_->registerCallback(&ComplementaryFilterROS::imuMagCallback, this); + } else + { + imu_subscriber_->registerCallback(&ComplementaryFilterROS::imuCallback, + this); + } +} + +ComplementaryFilterROS::~ComplementaryFilterROS() +{ + RCLCPP_INFO(this->get_logger(), "Destroying ComplementaryFilterROS"); +} + +void ComplementaryFilterROS::initializeParams() +{ + double gain_acc; + double gain_mag; + bool do_bias_estimation; + double bias_alpha; + bool do_adaptive_gain; + double orientation_stddev; + + fixed_frame_ = this->declare_parameter("fixed_frame", "odom"); + use_mag_ = this->declare_parameter("use_mag", false); + publish_tf_ = this->declare_parameter("publish_tf", false); + reverse_tf_ = this->declare_parameter("reverse_tf", false); + constant_dt_ = this->declare_parameter("constant_dt", 0.0); + publish_debug_topics_ = + this->declare_parameter("publish_debug_topics", false); + gain_acc = this->declare_parameter("gain_acc", 0.01); + gain_mag = this->declare_parameter("gain_mag", 0.01); + do_bias_estimation = + this->declare_parameter("do_bias_estimation", true); + bias_alpha = this->declare_parameter("bias_alpha", 0.01); + do_adaptive_gain = this->declare_parameter("do_adaptive_gain", true); + orientation_stddev = + this->declare_parameter("orientation_stddev", 0.0); + orientation_variance_ = orientation_stddev * orientation_stddev; + + filter_.setDoBiasEstimation(do_bias_estimation); + filter_.setDoAdaptiveGain(do_adaptive_gain); + + if (!filter_.setGainAcc(gain_acc)) + RCLCPP_WARN(this->get_logger(), + "Invalid gain_acc passed to ComplementaryFilter."); + if (use_mag_) + { + if (!filter_.setGainMag(gain_mag)) + RCLCPP_WARN(this->get_logger(), + "Invalid gain_mag passed to ComplementaryFilter."); + } + if (do_bias_estimation) + { + if (!filter_.setBiasAlpha(bias_alpha)) + RCLCPP_WARN(this->get_logger(), + "Invalid bias_alpha passed to ComplementaryFilter."); + } + + // check for illegal constant_dt values + if (constant_dt_ < 0.0) + { + // if constant_dt_ is 0.0 (default), use IMU timestamp to determine dt + // otherwise, it will be constant + RCLCPP_WARN( + this->get_logger(), + "constant_dt parameter is %f, must be >= 0.0. Setting to 0.0", + constant_dt_); + constant_dt_ = 0.0; + } +} + +void ComplementaryFilterROS::imuCallback(ImuMsg::ConstSharedPtr imu_msg_raw) +{ + const geometry_msgs::msg::Vector3 &a = imu_msg_raw->linear_acceleration; + const geometry_msgs::msg::Vector3 &w = imu_msg_raw->angular_velocity; + const rclcpp::Time &time = imu_msg_raw->header.stamp; + + // Initialize. + if (!initialized_filter_) + { + time_prev_ = time; + initialized_filter_ = true; + return; + } + + // determine dt: either constant, or from IMU timestamp + double dt; + if (constant_dt_ > 0.0) + dt = constant_dt_; + else + dt = (time - time_prev_).nanoseconds() * 1e-9; + + time_prev_ = time; + + // Update the filter. + filter_.update(a.x, a.y, a.z, w.x, w.y, w.z, dt); + + // Publish state. + publish(imu_msg_raw); +} + +void ComplementaryFilterROS::imuMagCallback(ImuMsg::ConstSharedPtr imu_msg_raw, + MagMsg::ConstSharedPtr mag_msg) +{ + const geometry_msgs::msg::Vector3 &a = imu_msg_raw->linear_acceleration; + const geometry_msgs::msg::Vector3 &w = imu_msg_raw->angular_velocity; + const geometry_msgs::msg::Vector3 &m = mag_msg->magnetic_field; + const rclcpp::Time &time = imu_msg_raw->header.stamp; + + // Initialize. + if (!initialized_filter_) + { + time_prev_ = time; + initialized_filter_ = true; + return; + } + + // Calculate dt. + double dt = (time - time_prev_).nanoseconds() * 1e-9; + time_prev_ = time; + // ros::Time t_in, t_out; + // t_in = ros::Time::now(); + // Update the filter. + if (std::isnan(m.x) || std::isnan(m.y) || std::isnan(m.z)) + filter_.update(a.x, a.y, a.z, w.x, w.y, w.z, dt); + else + filter_.update(a.x, a.y, a.z, w.x, w.y, w.z, m.x, m.y, m.z, dt); + + // t_out = ros::Time::now(); + // float dt_tot = (t_out - t_in).toSec() * 1000.0; // In msec. + // printf("%.6f\n", dt_tot); + // Publish state. + publish(imu_msg_raw); +} + +tf2::Quaternion ComplementaryFilterROS::hamiltonToTFQuaternion(double q0, + double q1, + double q2, + double q3) const +{ + // ROS uses the Hamilton quaternion convention (q0 is the scalar). However, + // the ROS quaternion is in the form [x, y, z, w], with w as the scalar. + return tf2::Quaternion(q1, q2, q3, q0); +} + +void ComplementaryFilterROS::publish(ImuMsg::ConstSharedPtr imu_msg_raw) +{ + // Get the orientation: + double q0, q1, q2, q3; + filter_.getOrientation(q0, q1, q2, q3); + tf2::Quaternion q = hamiltonToTFQuaternion(q0, q1, q2, q3); + + // Create and publish fitlered IMU message. + ImuMsg::SharedPtr imu_msg = std::make_shared(*imu_msg_raw); + imu_msg->orientation.x = q1; + imu_msg->orientation.y = q2; + imu_msg->orientation.z = q3; + imu_msg->orientation.w = q0; + + imu_msg->orientation_covariance[0] = orientation_variance_; + imu_msg->orientation_covariance[1] = 0.0; + imu_msg->orientation_covariance[2] = 0.0; + imu_msg->orientation_covariance[3] = 0.0; + imu_msg->orientation_covariance[4] = orientation_variance_; + imu_msg->orientation_covariance[5] = 0.0; + imu_msg->orientation_covariance[6] = 0.0; + imu_msg->orientation_covariance[7] = 0.0; + imu_msg->orientation_covariance[8] = orientation_variance_; + + // Account for biases. + if (filter_.getDoBiasEstimation()) + { + imu_msg->angular_velocity.x -= filter_.getAngularVelocityBiasX(); + imu_msg->angular_velocity.y -= filter_.getAngularVelocityBiasY(); + imu_msg->angular_velocity.z -= filter_.getAngularVelocityBiasZ(); + } + + imu_publisher_->publish(*imu_msg); + + if (publish_debug_topics_) + { + // Create and publish roll, pitch, yaw angles + geometry_msgs::msg::Vector3Stamped rpy; + rpy.header = imu_msg_raw->header; + + tf2::Matrix3x3 M; + M.setRotation(q); + M.getRPY(rpy.vector.x, rpy.vector.y, rpy.vector.z); + rpy_publisher_->publish(rpy); + + // Publish whether we are in the steady state, when doing bias + // estimation + if (filter_.getDoBiasEstimation()) + { + std_msgs::msg::Bool state_msg; + state_msg.data = filter_.getSteadyState(); + state_publisher_->publish(state_msg); + } + } + + if (publish_tf_) + { + // Create and publish the ROS tf. + geometry_msgs::msg::TransformStamped transform; + transform.header.stamp = imu_msg_raw->header.stamp; + transform.transform.rotation.x = q1; + transform.transform.rotation.y = q2; + transform.transform.rotation.z = q3; + transform.transform.rotation.w = q0; + + if (reverse_tf_) + { + transform.header.frame_id = imu_msg_raw->header.frame_id; + transform.child_frame_id = fixed_frame_; + tf_broadcaster_.sendTransform(transform); + } else + { + transform.child_frame_id = imu_msg_raw->header.frame_id; + transform.header.frame_id = fixed_frame_; + tf_broadcaster_.sendTransform(transform); + } + } +} + +} // namespace imu_tools diff --git a/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/LICENSE b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/LICENSE new file mode 100644 index 0000000..7809f45 --- /dev/null +++ b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/LICENSE @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2017, Lorenz Wellhausen +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +* Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +* Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +* Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. \ No newline at end of file diff --git a/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/README.md b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/README.md new file mode 100644 index 0000000..1286b7b --- /dev/null +++ b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/README.md @@ -0,0 +1,67 @@ +# linefit_ground_segmentation + +Implementation of the ground segmentation algorithm proposed in +``` +@inproceedings{himmelsbach2010fast, + title={Fast segmentation of 3d point clouds for ground vehicles}, + author={Himmelsbach, Michael and Hundelshausen, Felix V and Wuensche, H-J}, + booktitle={Intelligent Vehicles Symposium (IV), 2010 IEEE}, + pages={560--565}, + year={2010}, + organization={IEEE} +} +``` +The `linefit_ground_segmentation` package contains the ground segmentation library. +A ROS interface is available in `linefit_ground_segmentation_ros` + +The library can be compiled separately from the ROS interface if you're not using ROS. + +## Installation + +```bash +colcon build --symlink-install +``` + +## Launch instructions + +The ground segmentation ROS node can be launch by executing `ros2 launch linefit_ground_segmentation_ros segmentation.launch`. +Input and output topic names can be specified in the same file. + +Getting up and running with your own point cloud source should be as simple as: + +1. Change the `input_topic` parameter in `segmentation.launch` to your topic. +2. Adjust the `sensor_height` parameter in `segmentation_params.yaml` to the height where the sensor is mounted on your robot (e.g. KITTI Velodyne: 1.8m) + +## Parameter description + +Parameters are set in `linefit_ground_segmentation_ros/launch/segmentation_params.yaml` + +This algorithm works on the assumption that you known the height of the sensor above ground. +Therefore, **you have to adjust the `sensor_height`** to your robot specifications, otherwise, it will not work. + +The default parameters should work on the KITTI dataset. + +### Ground Condition +- **sensor_height** Sensor height above ground. +- **max_dist_to_line** maximum vertical distance of point to line to be considered ground. +- **max_slope** Maximum slope of a line. +- **min_slope** Minimum slope of a line. +- **max_fit_error** Maximum error a point is allowed to have in a line fit. +- **max_start_height** Maximum height difference between new point and estimated ground height to start a new line. +- **long_threshold** Distance after which the max_height condition is applied. +- **max_height** Maximum height difference between line points when they are farther apart than *long_threshold*. +- **line_search_angle** How far to search in angular direction to find a line. A higher angle helps fill "holes" in the ground segmentation. +- **gravity_aligned_frame** Name of a coordinate frame which has its z-axis aligned with gravity. If specified, the incoming point cloud will be rotated, but not translated into this coordinate frame. If left empty, the sensor frame will be used. + +### Segmentation + +- **r_min** Distance at which segmentation starts. +- **r_max** Distance at which segmentation ends. +- **n_bins** Number of radial bins. +- **n_segments** Number of angular segments. + +### Other + +- **n_threads** Number of threads to use. +- **latch** Latch output point clouds in ROS node. +- **visualize** Visualize the segmentation result. **ONLY FOR DEBUGGING.** Do not set true during online operation. diff --git a/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/doc/kitti.ply b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/doc/kitti.ply new file mode 100644 index 0000000..fdafed1 --- /dev/null +++ b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/doc/kitti.ply @@ -0,0 +1,122557 @@ +ply +format ascii 1.0 +comment PCL generated +obj_info is_cyberware_data 0 +obj_info is_mesh 0 +obj_info is_warped 0 +obj_info is_interlaced 0 +obj_info num_cols 122527 +obj_info num_rows 1 +obj_info 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0 0 0 0 +3.828 -1.421 -1.788 0 0 0 0 0 0 0 diff --git a/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/CMakeLists.txt b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/CMakeLists.txt new file mode 100644 index 0000000..edf8d58 --- /dev/null +++ b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/CMakeLists.txt @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 3.10) +project(linefit_ground_segmentation) + +# find_package(catkin_simple 0.1.0 REQUIRED ) +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) +add_definitions(-std=c++17 -O3) + +find_package(ament_cmake_auto REQUIRED) + +ament_auto_find_build_dependencies() +ament_auto_add_library(${PROJECT_NAME} SHARED DIRECTORY src) + +ament_auto_package() + +############# +# QTCREATOR # +############# +FILE(GLOB_RECURSE LibFiles "include/*") +add_custom_target(headers SOURCES ${LibFiles}) \ No newline at end of file diff --git a/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/include/ground_segmentation/bin.h b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/include/ground_segmentation/bin.h new file mode 100644 index 0000000..3a16091 --- /dev/null +++ b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/include/ground_segmentation/bin.h @@ -0,0 +1,43 @@ +#ifndef GROUND_SEGMENTATION_BIN_H_ +#define GROUND_SEGMENTATION_BIN_H_ + +#include + +#include +#include + +class Bin { +public: + struct MinZPoint { + MinZPoint() : z(0), d(0) {} + MinZPoint(const double& d, const double& z) : z(z), d(d) {} + bool operator==(const MinZPoint& comp) {return z == comp.z && d == comp.d;} + + double z; + double d; + }; + +private: + + std::atomic has_point_; + std::atomic min_z; + std::atomic min_z_range; + +public: + + Bin(); + + /// \brief Fake copy constructor to allow vector > initialization. + Bin(const Bin& segment); + + void addPoint(const pcl::PointXYZ& point); + + void addPoint(const double& d, const double& z); + + MinZPoint getMinZPoint(); + + inline bool hasPoint() {return has_point_;} + +}; + +#endif /* GROUND_SEGMENTATION_BIN_H_ */ diff --git a/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/include/ground_segmentation/ground_segmentation.h b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/include/ground_segmentation/ground_segmentation.h new file mode 100644 index 0000000..6dca5fa --- /dev/null +++ b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/include/ground_segmentation/ground_segmentation.h @@ -0,0 +1,120 @@ +#ifndef GROUND_SEGMENTATION_H_ +#define GROUND_SEGMENTATION_H_ + +#include + +#include "ground_segmentation/segment.h" +#include "ground_segmentation/typedefs.h" +#include "ground_segmentation/viewer.h" + +struct GroundSegmentationParams { + GroundSegmentationParams() : + visualize(false), + r_min_square(0.3 * 0.3), + r_max_square(20*20), + n_bins(30), + n_segments(180), + max_dist_to_line(0.15), + min_slope(0), + max_slope(1), + n_threads(4), + max_error_square(0.01), + long_threshold(2.0), + max_long_height(0.1), + max_start_height(0.2), + sensor_height(0.2), + line_search_angle(0.2) {} + + // Visualize estimated ground. + bool visualize; + // Minimum range of segmentation. + double r_min_square; + // Maximum range of segmentation. + double r_max_square; + // Number of radial bins. + int n_bins; + // Number of angular segments. + int n_segments; + // Maximum distance to a ground line to be classified as ground. + double max_dist_to_line; + // Min slope to be considered ground line. + double min_slope; + // Max slope to be considered ground line. + double max_slope; + // Max error for line fit. + double max_error_square; + // Distance at which points are considered far from each other. + double long_threshold; + // Maximum slope for + double max_long_height; + // Maximum heigh of starting line to be labelled ground. + double max_start_height; + // Height of sensor above ground. + double sensor_height; + // How far to search for a line in angular direction [rad]. + double line_search_angle; + // Number of threads. + int n_threads; +}; + +typedef pcl::PointCloud PointCloud; + +typedef std::pair PointLine; + +class GroundSegmentation { + + const GroundSegmentationParams params_; + + // Access with segments_[segment][bin]. + std::vector segments_; + + // Bin index of every point. + std::vector > bin_index_; + + // 2D coordinates (d, z) of every point in its respective segment. + std::vector segment_coordinates_; + + // Visualizer. + std::unique_ptr viewer_; + + void assignCluster(std::vector* segmentation); + + void assignClusterThread(const unsigned int& start_index, + const unsigned int& end_index, + std::vector* segmentation); + + void insertPoints(const PointCloud& cloud); + + void insertionThread(const PointCloud& cloud, + const size_t start_index, + const size_t end_index); + + void getMinZPoints(PointCloud* out_cloud); + + void getLines(std::list* lines); + + void lineFitThread(const unsigned int start_index, const unsigned int end_index, + std::list *lines, std::mutex* lines_mutex); + + pcl::PointXYZ minZPointTo3d(const Bin::MinZPoint& min_z_point, const double& angle); + + void getMinZPointCloud(PointCloud* cloud); + + void resetSegments(); + + void visualizePointCloud(const PointCloud::ConstPtr& cloud, + const std::string& id = "point_cloud"); + + void visualizeLines(const std::list& lines); + + void visualize(const std::list& lines, const PointCloud::ConstPtr& cloud, const PointCloud::ConstPtr& ground_cloud, const PointCloud::ConstPtr& obstacle_cloud); + +public: + + GroundSegmentation(const GroundSegmentationParams& params = GroundSegmentationParams()); + + void segment(const PointCloud& cloud, std::vector* segmentation); + +}; + +#endif // GROUND_SEGMENTATION_H_ diff --git a/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/include/ground_segmentation/segment.h b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/include/ground_segmentation/segment.h new file mode 100644 index 0000000..bf14c46 --- /dev/null +++ b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/include/ground_segmentation/segment.h @@ -0,0 +1,69 @@ +#ifndef GROUND_SEGMENTATION_SEGMENT_H_ +#define GROUND_SEGMENTATION_SEGMENT_H_ + +#include +#include + +#include "ground_segmentation/bin.h" + +class Segment { +public: + typedef std::pair Line; + + typedef std::pair LocalLine; + +private: + // Parameters. Description in GroundSegmentation. + const double min_slope_; + const double max_slope_; + const double max_error_; + const double long_threshold_; + const double max_long_height_; + const double max_start_height_; + const double sensor_height_; + + std::vector bins_; + + std::list lines_; + + LocalLine fitLocalLine(const std::list& points); + + double getMeanError(const std::list& points, const LocalLine& line); + + double getMaxError(const std::list& points, const LocalLine& line); + + Line localLineToLine(const LocalLine& local_line, const std::list& line_points); + + +public: + + Segment(const unsigned int& n_bins, + const double& min_slope, + const double& max_slope, + const double& max_error, + const double& long_threshold, + const double& max_long_height, + const double& max_start_height, + const double& sensor_height); + + double verticalDistanceToLine(const double& d, const double &z); + + void fitSegmentLines(); + + inline Bin& operator[](const size_t& index) { + return bins_[index]; + } + + inline std::vector::iterator begin() { + return bins_.begin(); + } + + inline std::vector::iterator end() { + return bins_.end(); + } + + bool getLines(std::list* lines); + +}; + +#endif /* GROUND_SEGMENTATION_SEGMENT_H_ */ diff --git a/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/include/ground_segmentation/typedefs.h b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/include/ground_segmentation/typedefs.h new file mode 100644 index 0000000..e21f19f --- /dev/null +++ b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/include/ground_segmentation/typedefs.h @@ -0,0 +1,9 @@ +#pragma once + +#include +#include + + +typedef pcl::PointCloud PointCloud; + +typedef std::pair PointLine; diff --git a/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/include/ground_segmentation/viewer.h b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/include/ground_segmentation/viewer.h new file mode 100644 index 0000000..93777fa --- /dev/null +++ b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/include/ground_segmentation/viewer.h @@ -0,0 +1,39 @@ +#pragma once + +#include +#include +#include + +#include + +#include "ground_segmentation/typedefs.h" + + +class Viewer { +public: + Viewer(); + ~Viewer(); + + void visualize(const std::list& lines, + const PointCloud::ConstPtr& min_cloud, + const PointCloud::ConstPtr& ground_cloud, + const PointCloud::ConstPtr& obstacle_cloud); + +protected: + + // Visualizer. + pcl::visualization::PCLVisualizer viewer_; + std::thread view_thread_; + std::mutex viewer_mutex_; + std::atomic redraw_{true}; + + void visualizeLines(const std::list& lines); + + void visualizePointCloud(const PointCloud::ConstPtr& cloud, + const std::string& id); + + void addEmptyPointCloud(const std::string& id); + + void drawThread(); + +}; diff --git a/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/package.xml b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/package.xml new file mode 100644 index 0000000..77b9b7d --- /dev/null +++ b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/package.xml @@ -0,0 +1,21 @@ + + + linefit_ground_segmentation + 0.0.1 + linefit_ground_segmentation + + Lorenz Wellhausen + + BSD + + ament_cmake + + eigen + pcl_ros + pcl_conversions + + + ament_cmake + + + diff --git a/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/src/bin.cc b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/src/bin.cc new file mode 100644 index 0000000..d4ac210 --- /dev/null +++ b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/src/bin.cc @@ -0,0 +1,32 @@ +#include "ground_segmentation/bin.h" + +#include + +Bin::Bin() : min_z(std::numeric_limits::max()), has_point_(false) {} + +Bin::Bin(const Bin& bin) : min_z(std::numeric_limits::max()), + has_point_(false) {} + +void Bin::addPoint(const pcl::PointXYZ& point) { + const double d = sqrt(point.x * point.x + point.y * point.y); + addPoint(d, point.z); +} + +void Bin::addPoint(const double& d, const double& z) { + has_point_ = true; + if (z < min_z) { + min_z = z; + min_z_range = d; + } +} + +Bin::MinZPoint Bin::getMinZPoint() { + MinZPoint point; + + if (has_point_) { + point.z = min_z; + point.d = min_z_range; + } + + return point; +} diff --git a/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/src/ground_segmentation.cc b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/src/ground_segmentation.cc new file mode 100644 index 0000000..fe8ac33 --- /dev/null +++ b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/src/ground_segmentation.cc @@ -0,0 +1,264 @@ +#include "ground_segmentation/ground_segmentation.h" + +#include +#include +#include +#include +#include + +using namespace std::chrono_literals; + + +GroundSegmentation::GroundSegmentation(const GroundSegmentationParams& params) : + params_(params), + segments_(params.n_segments, Segment(params.n_bins, + params.min_slope, + params.max_slope, + params.max_error_square, + params.long_threshold, + params.max_long_height, + params.max_start_height, + params.sensor_height)) { + if (params.visualize) viewer_.reset(new Viewer()); +} + +void GroundSegmentation::segment(const PointCloud& cloud, std::vector* segmentation) { + // std::cout << "Segmenting cloud with " << cloud.size() << " points...\n"; + std::chrono::high_resolution_clock::time_point start = std::chrono::high_resolution_clock::now(); + segmentation->clear(); + segmentation->resize(cloud.size(), 0); + bin_index_.resize(cloud.size()); + segment_coordinates_.resize(cloud.size()); + resetSegments(); + + insertPoints(cloud); + std::list lines; + if (params_.visualize) { + getLines(&lines); + } + else { + getLines(NULL); + } + assignCluster(segmentation); + + size_t n_ground = 0; + for (const auto seg: *segmentation) { + n_ground += seg; + } + + if (params_.visualize) { + // Visualize. + PointCloud::Ptr obstacle_cloud = std::make_shared(); + obstacle_cloud->reserve(segmentation->size() - n_ground); + // Get cloud of ground points. + PointCloud::Ptr ground_cloud = std::make_shared(); + ground_cloud->reserve(n_ground); + for (size_t i = 0; i < cloud.size(); ++i) { + if (segmentation->at(i) == 1) ground_cloud->push_back(cloud[i]); + else obstacle_cloud->push_back(cloud[i]); + } + PointCloud::Ptr min_cloud = std::make_shared(); + getMinZPointCloud(min_cloud.get()); + viewer_->visualize(lines, min_cloud, ground_cloud, obstacle_cloud); + } + std::chrono::high_resolution_clock::time_point end = std::chrono::high_resolution_clock::now(); + std::chrono::duration fp_ms = end - start; + // std::cout << "Done! Took " << fp_ms.count() << "ms\n"; +} + +void GroundSegmentation::getLines(std::list *lines) { + std::mutex line_mutex; + std::vector thread_vec(params_.n_threads); + unsigned int i; + for (i = 0; i < params_.n_threads; ++i) { + const unsigned int start_index = params_.n_segments / params_.n_threads * i; + const unsigned int end_index = params_.n_segments / params_.n_threads * (i+1); + thread_vec[i] = std::thread(&GroundSegmentation::lineFitThread, this, + start_index, end_index, lines, &line_mutex); + } + for (auto it = thread_vec.begin(); it != thread_vec.end(); ++it) { + it->join(); + } +} + +void GroundSegmentation::lineFitThread(const unsigned int start_index, + const unsigned int end_index, + std::list *lines, std::mutex* lines_mutex) { + const bool visualize = lines; + const double seg_step = 2*M_PI / params_.n_segments; + double angle = -M_PI + seg_step/2 + seg_step * start_index; + for (unsigned int i = start_index; i < end_index; ++i) { + segments_[i].fitSegmentLines(); + // Convert lines to 3d if we want to. + if (visualize) { + std::list segment_lines; + segments_[i].getLines(&segment_lines); + for (auto line_iter = segment_lines.begin(); line_iter != segment_lines.end(); ++line_iter) { + const pcl::PointXYZ start = minZPointTo3d(line_iter->first, angle); + const pcl::PointXYZ end = minZPointTo3d(line_iter->second, angle); + lines_mutex->lock(); + lines->emplace_back(start, end); + lines_mutex->unlock(); + } + + angle += seg_step; + } + } +} + +void GroundSegmentation::getMinZPointCloud(PointCloud* cloud) { + cloud->reserve(params_.n_segments * params_.n_bins); + const double seg_step = 2*M_PI / params_.n_segments; + double angle = -M_PI + seg_step/2; + for (auto seg_iter = segments_.begin(); seg_iter != segments_.end(); ++seg_iter) { + for (auto bin_iter = seg_iter->begin(); bin_iter != seg_iter->end(); ++bin_iter) { + const pcl::PointXYZ min = minZPointTo3d(bin_iter->getMinZPoint(), angle); + cloud->push_back(min); + } + + angle += seg_step; + } +} + +void GroundSegmentation::resetSegments() { + segments_ = std::vector(params_.n_segments, Segment(params_.n_bins, + params_.min_slope, + params_.max_slope, + params_.max_error_square, + params_.long_threshold, + params_.max_long_height, + params_.max_start_height, + params_.sensor_height)); +} + +pcl::PointXYZ GroundSegmentation::minZPointTo3d(const Bin::MinZPoint &min_z_point, + const double &angle) { + pcl::PointXYZ point; + point.x = cos(angle) * min_z_point.d; + point.y = sin(angle) * min_z_point.d; + point.z = min_z_point.z; + return point; +} + +void GroundSegmentation::assignCluster(std::vector* segmentation) { + std::vector thread_vec(params_.n_threads); + const size_t cloud_size = segmentation->size(); + for (unsigned int i = 0; i < params_.n_threads; ++i) { + const unsigned int start_index = cloud_size / params_.n_threads * i; + const unsigned int end_index = cloud_size / params_.n_threads * (i+1); + thread_vec[i] = std::thread(&GroundSegmentation::assignClusterThread, this, + start_index, end_index, segmentation); + } + for (auto it = thread_vec.begin(); it != thread_vec.end(); ++it) { + it->join(); + } +} + +void GroundSegmentation::assignClusterThread(const unsigned int &start_index, + const unsigned int &end_index, + std::vector *segmentation) { + const double segment_step = 2*M_PI/params_.n_segments; + for (unsigned int i = start_index; i < end_index; ++i) { + Bin::MinZPoint point_2d = segment_coordinates_[i]; + const int segment_index = bin_index_[i].first; + if (segment_index >= 0) { + double dist = segments_[segment_index].verticalDistanceToLine(point_2d.d, point_2d.z); + // Search neighboring segments. + int steps = 1; + while (dist < 0 && steps * segment_step < params_.line_search_angle) { + // Fix indices that are out of bounds. + int index_1 = segment_index + steps; + while (index_1 >= params_.n_segments) index_1 -= params_.n_segments; + int index_2 = segment_index - steps; + while (index_2 < 0) index_2 += params_.n_segments; + // Get distance to neighboring lines. + const double dist_1 = segments_[index_1].verticalDistanceToLine(point_2d.d, point_2d.z); + const double dist_2 = segments_[index_2].verticalDistanceToLine(point_2d.d, point_2d.z); + if (dist_1 >= 0) { + dist = dist_1; + } + if (dist_2 >= 0) { + // Select smaller distance if both segments return a valid distance. + if (dist < 0 || dist_2 < dist) { + dist = dist_2; + } + } + ++steps; + } + if (dist < params_.max_dist_to_line && dist != -1) { + segmentation->at(i) = 1; + } + } + } +} + +void GroundSegmentation::getMinZPoints(PointCloud* out_cloud) { + const double seg_step = 2*M_PI / params_.n_segments; + const double bin_step = (sqrt(params_.r_max_square) - sqrt(params_.r_min_square)) + / params_.n_bins; + const double r_min = sqrt(params_.r_min_square); + double angle = -M_PI + seg_step/2; + for (auto seg_iter = segments_.begin(); seg_iter != segments_.end(); ++seg_iter) { + double dist = r_min + bin_step/2; + for (auto bin_iter = seg_iter->begin(); bin_iter != seg_iter->end(); ++bin_iter) { + pcl::PointXYZ point; + if (bin_iter->hasPoint()) { + Bin::MinZPoint min_z_point(bin_iter->getMinZPoint()); + point.x = cos(angle) * min_z_point.d; + point.y = sin(angle) * min_z_point.d; + point.z = min_z_point.z; + + out_cloud->push_back(point); + } + dist += bin_step; + } + angle += seg_step; + } +} + +void GroundSegmentation::insertPoints(const PointCloud& cloud) { + std::vector threads(params_.n_threads); + const size_t points_per_thread = cloud.size() / params_.n_threads; + // Launch threads. + for (unsigned int i = 0; i < params_.n_threads - 1; ++i) { + const size_t start_index = i * points_per_thread; + const size_t end_index = (i+1) * points_per_thread; + threads[i] = std::thread(&GroundSegmentation::insertionThread, this, + cloud, start_index, end_index); + } + // Launch last thread which might have more points than others. + const size_t start_index = (params_.n_threads - 1) * points_per_thread; + const size_t end_index = cloud.size(); + threads[params_.n_threads - 1] = + std::thread(&GroundSegmentation::insertionThread, this, cloud, start_index, end_index); + // Wait for threads to finish. + for (auto it = threads.begin(); it != threads.end(); ++it) { + it->join(); + } +} + +void GroundSegmentation::insertionThread(const PointCloud& cloud, + const size_t start_index, + const size_t end_index) { + const double segment_step = 2*M_PI / params_.n_segments; + const double bin_step = (sqrt(params_.r_max_square) - sqrt(params_.r_min_square)) + / params_.n_bins; + const double r_min = sqrt(params_.r_min_square); + for (unsigned int i = start_index; i < end_index; ++i) { + pcl::PointXYZ point(cloud[i]); + const double range_square = point.x * point.x + point.y * point.y; + const double range = sqrt(range_square); + if (range_square < params_.r_max_square && range_square > params_.r_min_square) { + const double angle = std::atan2(point.y, point.x); + const unsigned int bin_index = (range - r_min) / bin_step; + const unsigned int segment_index = (angle + M_PI) / segment_step; + const unsigned int segment_index_clamped = segment_index == params_.n_segments ? 0 : segment_index; + segments_[segment_index_clamped][bin_index].addPoint(range, point.z); + bin_index_[i] = std::make_pair(segment_index_clamped, bin_index); + } + else { + bin_index_[i] = std::make_pair(-1, -1); + } + segment_coordinates_[i] = Bin::MinZPoint(range, point.z); + } +} diff --git a/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/src/segment.cc b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/src/segment.cc new file mode 100644 index 0000000..48acf8c --- /dev/null +++ b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/src/segment.cc @@ -0,0 +1,162 @@ +#include "ground_segmentation/segment.h" + +Segment::Segment(const unsigned int& n_bins, + const double& min_slope, + const double& max_slope, + const double& max_error, + const double& long_threshold, + const double& max_long_height, + const double& max_start_height, + const double& sensor_height) : + bins_(n_bins), + min_slope_(min_slope), + max_slope_(max_slope), + max_error_(max_error), + long_threshold_(long_threshold), + max_long_height_(max_long_height), + max_start_height_(max_start_height), + sensor_height_(sensor_height){} + +void Segment::fitSegmentLines() { + // Find first point. + auto line_start = bins_.begin(); + while (!line_start->hasPoint()) { + ++line_start; + // Stop if we reached last point. + if (line_start == bins_.end()) return; + } + // Fill lines. + bool is_long_line = false; + double cur_ground_height = -sensor_height_; + std::list current_line_points(1, line_start->getMinZPoint()); + LocalLine cur_line = std::make_pair(0,0); + for (auto line_iter = line_start+1; line_iter != bins_.end(); ++line_iter) { + if (line_iter->hasPoint()) { + Bin::MinZPoint cur_point = line_iter->getMinZPoint(); + if (cur_point.d - current_line_points.back().d > long_threshold_) is_long_line = true; + if (current_line_points.size() >= 2) { + // Get expected z value to possibly reject far away points. + double expected_z = std::numeric_limits::max(); + if (is_long_line && current_line_points.size() > 2) { + expected_z = cur_line.first * cur_point.d + cur_line.second; + } + current_line_points.push_back(cur_point); + cur_line = fitLocalLine(current_line_points); + const double error = getMaxError(current_line_points, cur_line); + // Check if not a good line. + if (error > max_error_ || + std::fabs(cur_line.first) > max_slope_ || + (current_line_points.size() > 2 && std::fabs(cur_line.first) < min_slope_) || + is_long_line && std::fabs(expected_z - cur_point.z) > max_long_height_) { + // Add line until previous point as ground. + current_line_points.pop_back(); + // Don't let lines with 2 base points through. + if (current_line_points.size() >= 3) { + const LocalLine new_line = fitLocalLine(current_line_points); + lines_.push_back(localLineToLine(new_line, current_line_points)); + cur_ground_height = new_line.first * current_line_points.back().d + new_line.second; + } + // Start new line. + is_long_line = false; + current_line_points.erase(current_line_points.begin(), --current_line_points.end()); + --line_iter; + } + // Good line, continue. + else { } + } + else { + // Not enough points. + if (cur_point.d - current_line_points.back().d < long_threshold_ && + std::fabs(current_line_points.back().z - cur_ground_height) < max_start_height_) { + // Add point if valid. + current_line_points.push_back(cur_point); + } + else { + // Start new line. + current_line_points.clear(); + current_line_points.push_back(cur_point); + } + } + } + } + // Add last line. + if (current_line_points.size() > 2) { + const LocalLine new_line = fitLocalLine(current_line_points); + lines_.push_back(localLineToLine(new_line, current_line_points)); + } +} + +Segment::Line Segment::localLineToLine(const LocalLine& local_line, + const std::list& line_points) { + Line line; + const double first_d = line_points.front().d; + const double second_d = line_points.back().d; + const double first_z = local_line.first * first_d + local_line.second; + const double second_z = local_line.first * second_d + local_line.second; + line.first.z = first_z; + line.first.d = first_d; + line.second.z = second_z; + line.second.d = second_d; + return line; +} + +double Segment::verticalDistanceToLine(const double &d, const double &z) { + static const double kMargin = 0.1; + double distance = -1; + for (auto it = lines_.begin(); it != lines_.end(); ++it) { + if (it->first.d - kMargin < d && it->second.d + kMargin > d) { + const double delta_z = it->second.z - it->first.z; + const double delta_d = it->second.d - it->first.d; + const double expected_z = (d - it->first.d)/delta_d *delta_z + it->first.z; + distance = std::fabs(z - expected_z); + } + } + return distance; +} + +double Segment::getMeanError(const std::list &points, const LocalLine &line) { + double error_sum = 0; + for (auto it = points.begin(); it != points.end(); ++it) { + const double residual = (line.first * it->d + line.second) - it->z; + error_sum += residual * residual; + } + return error_sum/points.size(); +} + +double Segment::getMaxError(const std::list &points, const LocalLine &line) { + double max_error = 0; + for (auto it = points.begin(); it != points.end(); ++it) { + const double residual = (line.first * it->d + line.second) - it->z; + const double error = residual * residual; + if (error > max_error) max_error = error; + } + return max_error; +} + +Segment::LocalLine Segment::fitLocalLine(const std::list &points) { + const unsigned int n_points = points.size(); + Eigen::MatrixXd X(n_points, 2); + Eigen::VectorXd Y(n_points); + unsigned int counter = 0; + for (auto iter = points.begin(); iter != points.end(); ++iter) { + X(counter, 0) = iter->d; + X(counter, 1) = 1; + Y(counter) = iter->z; + ++counter; + } + Eigen::VectorXd result = X.colPivHouseholderQr().solve(Y); + LocalLine line_result; + line_result.first = result(0); + line_result.second = result(1); + return line_result; +} + +bool Segment::getLines(std::list *lines) { + if (lines_.empty()) { + return false; + } + else { + *lines = lines_; + return true; + } +} diff --git a/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/src/viewer.cc b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/src/viewer.cc new file mode 100644 index 0000000..f6afe0d --- /dev/null +++ b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation/src/viewer.cc @@ -0,0 +1,101 @@ +#include "ground_segmentation/viewer.h" + +#include + +using namespace std::chrono_literals; + + + +Viewer::Viewer() { + std::lock_guard lock(viewer_mutex_); + + viewer_.setBackgroundColor (0, 0, 0); + viewer_.addCoordinateSystem (1.0); + viewer_.initCameraParameters (); + viewer_.setCameraPosition(-2.0, 0, 2.0, 1.0, 0, 0); + + addEmptyPointCloud("min_cloud"); + addEmptyPointCloud("ground_cloud"); + addEmptyPointCloud("obstacle_cloud"); + + viewer_.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_COLOR, + 0.0f, 1.0f, 0.0f, + "min_cloud"); + viewer_.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, + 2.0f, + "min_cloud"); + viewer_.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_COLOR, + 1.0f, 0.0f, 0.0f, + "ground_cloud"); + + view_thread_ = std::thread(&Viewer::drawThread, this); +} + + + +Viewer::~Viewer() { + redraw_ = false; + + { + std::lock_guard lock(viewer_mutex_); + viewer_.close(); + } + + view_thread_.join(); +} + + + +void Viewer::visualize(const std::list& lines, + const PointCloud::ConstPtr& min_cloud, + const PointCloud::ConstPtr& ground_cloud, + const PointCloud::ConstPtr& obstacle_cloud) { + redraw_ = false; + std::lock_guard lock(viewer_mutex_); + // TODO: Do not delete and add every time. + viewer_.removeAllShapes(); + visualizePointCloud(min_cloud, "min_cloud"); + visualizePointCloud(ground_cloud, "ground_cloud"); + visualizePointCloud(obstacle_cloud, "obstacle_cloud"); + visualizeLines(lines); +} + + + +void Viewer::visualizeLines(const std::list& lines) { + size_t counter = 0; + for (auto it = lines.begin(); it != lines.end(); ++it) { + viewer_.addLine(it->first, it->second, std::to_string(counter++)); + } +} + + + +void Viewer::visualizePointCloud(const PointCloud::ConstPtr& cloud, + const std::string& id) { + viewer_.updatePointCloud(cloud, id); +} + + + +void Viewer::addEmptyPointCloud(const std::string& id) { + viewer_.addPointCloud(PointCloud().makeShared(), id); +} + + + +void Viewer::drawThread() { + bool stopped = false; + while (!stopped) { + { + std::lock_guard lock(viewer_mutex_); + redraw_ = true; + while (redraw_) { + viewer_.spinOnce(1); + } + } + std::this_thread::sleep_for(1ms); + std::lock_guard lock(viewer_mutex_); + stopped = viewer_.wasStopped(); + } +} diff --git a/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation_ros/CMakeLists.txt b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation_ros/CMakeLists.txt new file mode 100644 index 0000000..d867e0c --- /dev/null +++ b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation_ros/CMakeLists.txt @@ -0,0 +1,22 @@ +cmake_minimum_required(VERSION 3.10) +project(linefit_ground_segmentation_ros) + +# find_package(catkin_simple 0.1.0 REQUIRED ) + +# catkin_simple(ALL_DEPS_REQUIRED) +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) +add_definitions(-std=c++17 -O3) + +find_package(ament_cmake_auto) + +ament_auto_find_build_dependencies() +ament_auto_add_executable(ground_segmentation_node src/ground_segmentation_node.cc) +ament_auto_add_executable(ground_segmentation_test_node src/ground_segmentation_test_node.cc) + +ament_auto_package(INSTALL_TO_SHARE launch) + +############# +# QTCREATOR # +############# +FILE(GLOB_RECURSE LibFiles "include/*") +add_custom_target(headers SOURCES ${LibFiles}) diff --git a/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation_ros/launch/segmentation.launch.py b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation_ros/launch/segmentation.launch.py new file mode 100644 index 0000000..83043b1 --- /dev/null +++ b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation_ros/launch/segmentation.launch.py @@ -0,0 +1,30 @@ + +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch_ros.actions import Node + + + +def generate_launch_description(): + # Getting directories and launch-files + bringup_dir = get_package_share_directory('linefit_ground_segmentation_ros') + params_file = os.path.join(bringup_dir, 'launch', 'segmentation_params.yaml') + + # Nodes launching commands + node_start_cmd = Node( + package='linefit_ground_segmentation_ros', + executable='ground_segmentation_node', + output='screen', + parameters=[params_file]) + + + ld = LaunchDescription() + + # Declare the launch options + ld.add_action(node_start_cmd) + + + return ld \ No newline at end of file diff --git a/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation_ros/launch/segmentation_params.yaml b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation_ros/launch/segmentation_params.yaml new file mode 100644 index 0000000..ce45574 --- /dev/null +++ b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation_ros/launch/segmentation_params.yaml @@ -0,0 +1,28 @@ +ground_segmentation: + ros__parameters: + n_threads: 4 # number of threads to use. + + r_min: 0.2 # minimum point distance. + r_max: 50 # maximum point distance. + n_bins: 120 # number of radial bins. + n_segments: 360 # number of radial segments. + + max_dist_to_line: 0.1 # maximum vertical distance of point to line to be considered ground. + + sensor_height: 0.225 # sensor height above ground. + min_slope: 0.0 # minimum slope of a ground line. + max_slope: 0.3 # maximum slope of a ground line. + max_fit_error: 0.05 # maximum error of a point during line fit. + long_threshold: 1.0 # distance between points after which they are considered far from each other. + max_long_height: 0.1 # maximum height change to previous point in long line. + max_start_height: 0.2 # maximum difference to estimated ground height to start a new line. + line_search_angle: 0.1 # how far to search in angular direction to find a line [rad]. + + gravity_aligned_frame: "" # Frame which has its z axis aligned with gravity. (Sensor frame if empty.) + + latch: false # latch output topics or not + visualize: false # visualize segmentation result - USE ONLY FOR DEBUGGING + + input_topic: "/livox/lidar/pointcloud" + obstacle_output_topic: "segmentation/obstacle" + ground_output_topic: "segmentation/ground" \ No newline at end of file diff --git a/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation_ros/launch/test.launch.py b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation_ros/launch/test.launch.py new file mode 100644 index 0000000..b9ca5b2 --- /dev/null +++ b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation_ros/launch/test.launch.py @@ -0,0 +1,30 @@ + +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch_ros.actions import Node + + + +def generate_launch_description(): + # Getting directories and launch-files + bringup_dir = get_package_share_directory('linefit_ground_segmentation_ros') + params_file = os.path.join(bringup_dir, 'launch', 'segmentation_params.yaml') + + # Nodes launching commands + node_start_cmd = Node( + package='linefit_ground_segmentation_ros', + executable='ground_segmentation_test_node', + output='screen', + parameters=[params_file]) + + + ld = LaunchDescription() + + # Declare the launch options + ld.add_action(node_start_cmd) + + + return ld \ No newline at end of file diff --git a/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation_ros/package.xml b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation_ros/package.xml new file mode 100644 index 0000000..542b350 --- /dev/null +++ b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation_ros/package.xml @@ -0,0 +1,23 @@ + + + linefit_ground_segmentation_ros + 0.0.1 + linefit_ground_segmentation_ros + + Lorenz Wellhausen + + BSD + + ament_cmake + + rclcpp + tf2_ros + sensor_msgs + geometry_msgs + linefit_ground_segmentation + + + ament_cmake + + + diff --git a/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation_ros/src/ground_segmentation_node.cc b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation_ros/src/ground_segmentation_node.cc new file mode 100644 index 0000000..9cbea9c --- /dev/null +++ b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation_ros/src/ground_segmentation_node.cc @@ -0,0 +1,147 @@ +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "ground_segmentation/ground_segmentation.h" + +class SegmentationNode : public rclcpp::Node { +public: + SegmentationNode(const rclcpp::NodeOptions &node_options); + void scanCallback(const sensor_msgs::msg::PointCloud2::SharedPtr msg); + + rclcpp::Publisher::SharedPtr ground_pub_; + rclcpp::Publisher::SharedPtr obstacle_pub_; + std::shared_ptr tf_buffer_; + std::shared_ptr tf_listener_; + rclcpp::Subscription::SharedPtr cloud_sub_; + GroundSegmentationParams params_; + std::shared_ptr segmenter_; + std::string gravity_aligned_frame_; +}; + +SegmentationNode::SegmentationNode(const rclcpp::NodeOptions &node_options) + : Node("ground_segmentation", node_options) { + gravity_aligned_frame_ = + this->declare_parameter("gravity_aligned_frame", "gravity_aligned"); + + params_.visualize = this->declare_parameter("visualize", params_.visualize); + params_.n_bins = this->declare_parameter("n_bins", params_.n_bins); + params_.n_segments = + this->declare_parameter("n_segments", params_.n_segments); + params_.max_dist_to_line = + this->declare_parameter("max_dist_to_line", params_.max_dist_to_line); + params_.max_slope = this->declare_parameter("max_slope", params_.max_slope); + params_.min_slope = this->declare_parameter("min_slope", params_.min_slope); + params_.long_threshold = + this->declare_parameter("long_threshold", params_.long_threshold); + params_.max_long_height = + this->declare_parameter("max_long_height", params_.max_long_height); + params_.max_start_height = + this->declare_parameter("max_start_height", params_.max_start_height); + params_.sensor_height = + this->declare_parameter("sensor_height", params_.sensor_height); + params_.line_search_angle = + this->declare_parameter("line_search_angle", params_.line_search_angle); + params_.n_threads = this->declare_parameter("n_threads", params_.n_threads); + // Params that need to be squared. + double r_min, r_max, max_fit_error; + if (this->get_parameter("r_min", r_min)) { + params_.r_min_square = r_min * r_min; + } + if (this->get_parameter("r_max", r_max)) { + params_.r_max_square = r_max * r_max; + } + if (this->get_parameter("max_fit_error", max_fit_error)) { + params_.max_error_square = max_fit_error * max_fit_error; + } + segmenter_ = std::make_shared(params_); + std::string ground_topic, obstacle_topic, input_topic; + ground_topic = this->declare_parameter("ground_output_topic", "ground_cloud"); + obstacle_topic = + this->declare_parameter("obstacle_output_topic", "obstacle_cloud"); + input_topic = this->declare_parameter("input_topic", "input_cloud"); + cloud_sub_ = this->create_subscription( + input_topic, rclcpp::SensorDataQoS(), + std::bind(&SegmentationNode::scanCallback, this, std::placeholders::_1)); + ground_pub_ = this->create_publisher( + ground_topic, rclcpp::SensorDataQoS()); + obstacle_pub_ = this->create_publisher( + obstacle_topic, rclcpp::SensorDataQoS()); + tf_buffer_ = std::make_shared(this->get_clock()); + tf_listener_ = std::make_shared(*tf_buffer_); + RCLCPP_INFO(this->get_logger(), "Segmentation node initialized"); +} + +void SegmentationNode::scanCallback( + const sensor_msgs::msg::PointCloud2::SharedPtr msg) { + pcl::PointCloud cloud; + pcl::fromROSMsg(*msg, cloud); + pcl::PointCloud cloud_transformed; + + std::vector labels; + + bool is_original_pc = true; + if (!gravity_aligned_frame_.empty()) { + geometry_msgs::msg::TransformStamped tf_stamped; + try { + tf_stamped = tf_buffer_->lookupTransform( + gravity_aligned_frame_, msg->header.frame_id, msg->header.stamp); + // Remove translation part. + tf_stamped.transform.translation.x = 0; + tf_stamped.transform.translation.y = 0; + tf_stamped.transform.translation.z = 0; + Eigen::Affine3d tf; + tf.translate(Eigen::Vector3d(0, 0, 0)); + tf.rotate(Eigen::Quaterniond( + tf_stamped.transform.rotation.w, tf_stamped.transform.rotation.x, + tf_stamped.transform.rotation.y, tf_stamped.transform.rotation.z)); + // tf::transformMsgToEigen(tf_stamped.transform, tf); + pcl::transformPointCloud(cloud, cloud_transformed, tf); + is_original_pc = false; + } catch (tf2::TransformException &ex) { + RCLCPP_WARN(this->get_logger(), + "Failed to transform point cloud into " + "gravity frame: %s", + ex.what()); + } + } + + // Trick to avoid PC copy if we do not transform. + const pcl::PointCloud &cloud_proc = + is_original_pc ? cloud : cloud_transformed; + + segmenter_->segment(cloud_proc, &labels); + pcl::PointCloud ground_cloud, obstacle_cloud; + for (size_t i = 0; i < cloud.size(); ++i) { + if (labels[i] == 1) + ground_cloud.push_back(cloud[i]); + else + obstacle_cloud.push_back(cloud[i]); + } + auto ground_msg = std::make_shared(); + auto obstacle_msg = std::make_shared(); + pcl::toROSMsg(ground_cloud, *ground_msg); + pcl::toROSMsg(obstacle_cloud, *obstacle_msg); + ground_msg->header = msg->header; + obstacle_msg->header = msg->header; + ground_pub_->publish(*ground_msg); + obstacle_pub_->publish(*obstacle_msg); +} + +int main(int argc, char **argv) { + rclcpp::init(argc, argv); + rclcpp::NodeOptions options; + auto node = std::make_shared(options); + rclcpp::spin(node); + rclcpp::shutdown(); + return 0; +} diff --git a/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation_ros/src/ground_segmentation_test_node.cc b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation_ros/src/ground_segmentation_test_node.cc new file mode 100644 index 0000000..ab1dee8 --- /dev/null +++ b/src/rm_nav/rm_perception/linefit_ground_segementation_ros2/linefit_ground_segmentation_ros/src/ground_segmentation_test_node.cc @@ -0,0 +1,60 @@ +#include +#include +#include +#include + +#include "ground_segmentation/ground_segmentation.h" + +int main(int argc, char **argv) { + rclcpp::init(argc, argv); + auto node = rclcpp::Node::make_shared("ground_segmentation"); + std::string cloud_file; + if (node->get_parameter("point_cloud_file", cloud_file)) { + std::cout << "Point cloud file is \"" << cloud_file << "\"\n"; + pcl::PointCloud cloud; + pcl::io::loadPLYFile(cloud_file, cloud); + + GroundSegmentationParams params; + params.visualize = node->declare_parameter("visualize", params.visualize); + params.n_bins = node->declare_parameter("n_bins", params.n_bins); + params.n_segments = + node->declare_parameter("n_segments", params.n_segments); + params.max_dist_to_line = + node->declare_parameter("max_dist_to_line", params.max_dist_to_line); + params.max_slope = node->declare_parameter("max_slope", params.max_slope); + params.min_slope = node->declare_parameter("min_slope", params.min_slope); + params.long_threshold = + node->declare_parameter("long_threshold", params.long_threshold); + params.max_long_height = + node->declare_parameter("max_long_height", params.max_long_height); + params.max_start_height = + node->declare_parameter("max_start_height", params.max_start_height); + params.sensor_height = + node->declare_parameter("sensor_height", params.sensor_height); + params.line_search_angle = + node->declare_parameter("line_search_angle", params.line_search_angle); + params.n_threads = node->declare_parameter("n_threads", params.n_threads); + // Params that need to be squared. + double r_min, r_max, max_fit_error; + if (node->get_parameter("r_min", r_min)) { + params.r_min_square = r_min * r_min; + } + if (node->get_parameter("r_max", r_max)) { + params.r_max_square = r_max * r_max; + } + if (node->get_parameter("max_fit_error", max_fit_error)) { + params.max_error_square = max_fit_error * max_fit_error; + } + + GroundSegmentation segmenter(params); + std::vector labels; + + segmenter.segment(cloud, &labels); + + rclcpp::spin(node); + } else { + std::cerr << "No point cloud file given\n"; + } + rclcpp::shutdown(); + return 0; +} diff --git a/src/rm_nav/rm_perception/pointcloud_to_laserscan/CHANGELOG.rst b/src/rm_nav/rm_perception/pointcloud_to_laserscan/CHANGELOG.rst new file mode 100644 index 0000000..54374c3 --- /dev/null +++ b/src/rm_nav/rm_perception/pointcloud_to_laserscan/CHANGELOG.rst @@ -0,0 +1,95 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package pointcloud_to_laserscan +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.0.1 (2021-10-19) +------------------ +* Replace deprecated launch api (`#56 `_) +* Fix linting errors in the code (`#52 `_) +* Update README.md +* Contributors: Chris Lalancette, Daisuke Nishimatsu, Paul Bovbel + +2.0.0 (2020-02-10) +------------------ +* ROS 2 Migration (`#33 `_) + * ROS 2 Migration + Signed-off-by: Michel Hidalgo +* Contributors: Michel Hidalgo + +1.4.1 (2019-08-30) +------------------ +* LaserScan to PointCloud node + nodelet (`#28 `_) +* fix roslint (`#29 `_) +* Merge pull request `#20 `_ from ros-perception/range_max_check + Add check for range_max +* Add check for range_max +* Contributors: Paul Bovbel, Rein Appeldoorn + +1.4.0 (2017-11-14) +------------------ +* Added inf_epsilon parameter that determines the value added to max range when use_infs parameter is set to false +* Merge pull request `#11 `_ from ros-perception/mikaelarguedas-patch-1 + update to use non deprecated pluginlib macro +* Migrate to package format 2; add roslint +* Add sane parameter defaults; fixup lint warnings +* update to use non deprecated pluginlib macro +* Contributors: Mikael Arguedas, Paul Bovbel, Prasanna Kannappan + +1.3.1 (2017-04-26) +------------------ +* Merge pull request `#4 `_ from yoshimalucky/fix-miscalculation-in-angle-increment + Fixed miscalculation in angle_increment in the launch files. +* fixed miscalculation in angle_increment in the launchfiles. +* Contributors: Paul Bovbel, yoshimalucky + +1.3.0 (2015-06-09) +------------------ +* Fix pointcloud to laserscan transform tolerance issues +* Move pointcloud_to_laserscan to new repository +* Contributors: Paul Bovbel + +1.2.7 (2015-06-08) +------------------ + +* Cleanup pointcloud_to_laserscan launch files +* Contributors: Paul Bovbel + +1.2.6 (2015-02-04) +------------------ +* Fix default value for concurrency +* Fix multithreaded lazy pub sub +* Contributors: Paul Bovbel + +1.2.5 (2015-01-20) +------------------ +* Switch to tf_sensor_msgs for transform +* Set parameters in sample launch files to default +* Add tolerance parameter +* Contributors: Paul Bovbel + +1.2.4 (2015-01-15) +------------------ +* Remove stray dependencies +* Refactor with tf2 and message filters +* Remove roslaunch check +* Fix regressions +* Refactor to allow debug messages from node and nodelet +* Contributors: Paul Bovbel + +1.2.3 (2015-01-10) +------------------ +* add launch tests +* refactor naming and fix nodelet export +* set default target frame to empty +* clean up package.xml +* Contributors: Paul Bovbel + +1.2.2 (2014-10-25) +------------------ +* clean up package.xml +* Fix header reference +* Fix flow +* Fix pointer assertion +* Finalize pointcloud to laserscan +* Initial pointcloud to laserscan commit +* Contributors: Paul Bovbel diff --git a/src/rm_nav/rm_perception/pointcloud_to_laserscan/CMakeLists.txt b/src/rm_nav/rm_perception/pointcloud_to_laserscan/CMakeLists.txt new file mode 100644 index 0000000..e37aed9 --- /dev/null +++ b/src/rm_nav/rm_perception/pointcloud_to_laserscan/CMakeLists.txt @@ -0,0 +1,36 @@ +cmake_minimum_required(VERSION 3.5) +project(pointcloud_to_laserscan) + +add_compile_options(-std=c++17 -O3) +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +ament_auto_add_library(laserscan_to_pointcloud SHARED + src/laserscan_to_pointcloud_node.cpp) + +rclcpp_components_register_node(laserscan_to_pointcloud + PLUGIN "pointcloud_to_laserscan::LaserScanToPointCloudNode" + EXECUTABLE laserscan_to_pointcloud_node) + +ament_auto_add_library(pointcloud_to_laserscan SHARED + src/pointcloud_to_laserscan_node.cpp) + +rclcpp_components_register_node(pointcloud_to_laserscan + PLUGIN "pointcloud_to_laserscan::PointCloudToLaserScanNode" + EXECUTABLE pointcloud_to_laserscan_node) + +ament_auto_add_executable(dummy_pointcloud_publisher + src/dummy_pointcloud_publisher.cpp +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package( + INSTALL_TO_SHARE + launch +) diff --git a/src/rm_nav/rm_perception/pointcloud_to_laserscan/LICENSE b/src/rm_nav/rm_perception/pointcloud_to_laserscan/LICENSE new file mode 100644 index 0000000..f05ef04 --- /dev/null +++ b/src/rm_nav/rm_perception/pointcloud_to_laserscan/LICENSE @@ -0,0 +1,12 @@ +Copyright (c) 2010-2012, Willow Garage, Inc. +Copyright (c) 2019, Eurotec, Netherlands + +Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/src/rm_nav/rm_perception/pointcloud_to_laserscan/README.md b/src/rm_nav/rm_perception/pointcloud_to_laserscan/README.md new file mode 100644 index 0000000..dd8db4d --- /dev/null +++ b/src/rm_nav/rm_perception/pointcloud_to_laserscan/README.md @@ -0,0 +1,49 @@ +# ROS 2 pointcloud <-> laserscan converters + +This is a ROS 2 package that provides components to convert `sensor_msgs/msg/PointCloud2` messages to `sensor_msgs/msg/LaserScan` messages and back. +It is essentially a port of the original ROS 1 package. + +## pointcloud\_to\_laserscan::PointCloudToLaserScanNode + +This ROS 2 component projects `sensor_msgs/msg/PointCloud2` messages into `sensor_msgs/msg/LaserScan` messages. + +### Published Topics + +* `scan` (`sensor_msgs/msg/LaserScan`) - The output laser scan. + +### Subscribed Topics + +* `cloud_in` (`sensor_msgs/msg/PointCloud2`) - The input point cloud. No input will be processed if there isn't at least one subscriber to the `scan` topic. + +### Parameters + +* `min_height` (double, default: 2.2e-308) - The minimum height to sample in the point cloud in meters. +* `max_height` (double, default: 1.8e+308) - The maximum height to sample in the point cloud in meters. +* `angle_min` (double, default: -π) - The minimum scan angle in radians. +* `angle_max` (double, default: π) - The maximum scan angle in radians. +* `angle_increment` (double, default: π/180) - Resolution of laser scan in radians per ray. +* `queue_size` (double, default: detected number of cores) - Input point cloud queue size. +* `scan_time` (double, default: 1.0/30.0) - The scan rate in seconds. Only used to populate the scan_time field of the output laser scan message. +* `range_min` (double, default: 0.0) - The minimum ranges to return in meters. +* `range_max` (double, default: 1.8e+308) - The maximum ranges to return in meters. +* `target_frame` (str, default: none) - If provided, transform the pointcloud into this frame before converting to a laser scan. Otherwise, laser scan will be generated in the same frame as the input point cloud. +* `transform_tolerance` (double, default: 0.01) - Time tolerance for transform lookups. Only used if a `target_frame` is provided. +* `use_inf` (boolean, default: true) - If disabled, report infinite range (no obstacle) as range_max + 1. Otherwise report infinite range as +inf. + +## pointcloud\_to\_laserscan::LaserScanToPointCloudNode + +This ROS 2 component re-publishes `sensor_msgs/msg/LaserScan` messages as `sensor_msgs/msg/PointCloud2` messages. + +### Published Topics + +* `cloud` (`sensor_msgs/msg/PointCloud2`) - The output point cloud. + +### Subscribed Topics + +* `scan_in` (`sensor_msgs/msg/LaserScan`) - The input laser scan. No input will be processed if there isn't at least one subscriber to the `cloud` topic. + +### Parameters + +* `queue_size` (double, default: detected number of cores) - Input laser scan queue size. +* `target_frame` (str, default: none) - If provided, transform the pointcloud into this frame before converting to a laser scan. Otherwise, laser scan will be generated in the same frame as the input point cloud. +* `transform_tolerance` (double, default: 0.01) - Time tolerance for transform lookups. Only used if a `target_frame` is provided. diff --git a/src/rm_nav/rm_perception/pointcloud_to_laserscan/include/pointcloud_to_laserscan/laserscan_to_pointcloud_node.hpp b/src/rm_nav/rm_perception/pointcloud_to_laserscan/include/pointcloud_to_laserscan/laserscan_to_pointcloud_node.hpp new file mode 100644 index 0000000..8948af9 --- /dev/null +++ b/src/rm_nav/rm_perception/pointcloud_to_laserscan/include/pointcloud_to_laserscan/laserscan_to_pointcloud_node.hpp @@ -0,0 +1,98 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2019, Eurotec, Netherlands + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * + */ + +/* + * Author: Rein Appeldoorn + */ + +#ifndef POINTCLOUD_TO_LASERSCAN__LASERSCAN_TO_POINTCLOUD_NODE_HPP_ +#define POINTCLOUD_TO_LASERSCAN__LASERSCAN_TO_POINTCLOUD_NODE_HPP_ + +#include +#include +#include +#include + +#include "message_filters/subscriber.h" +#include "tf2_ros/buffer.h" +#include "tf2_ros/message_filter.h" +#include "tf2_ros/transform_listener.h" + +#include "laser_geometry/laser_geometry.hpp" +#include "rclcpp/rclcpp.hpp" +#include "sensor_msgs/msg/laser_scan.hpp" +#include "sensor_msgs/msg/point_cloud2.hpp" + +#include "pointcloud_to_laserscan/visibility_control.h" + +namespace pointcloud_to_laserscan +{ +typedef tf2_ros::MessageFilter MessageFilter; + +//! \brief The PointCloudToLaserScanNodelet class to process incoming laserscans into pointclouds. +//! +class LaserScanToPointCloudNode : public rclcpp::Node +{ +public: + POINTCLOUD_TO_LASERSCAN_PUBLIC + explicit LaserScanToPointCloudNode(const rclcpp::NodeOptions & options); + + ~LaserScanToPointCloudNode() override; + +private: + void scanCallback(sensor_msgs::msg::LaserScan::ConstSharedPtr scan_msg); + + void subscriptionListenerThreadLoop(); + + std::unique_ptr tf2_; + std::unique_ptr tf2_listener_; + message_filters::Subscriber sub_; + std::shared_ptr> pub_; + std::unique_ptr message_filter_; + std::thread subscription_listener_thread_; + std::atomic_bool alive_{true}; + + laser_geometry::LaserProjection projector_; + + // ROS Parameters + int input_queue_size_; + std::string target_frame_; + double tolerance_; +}; + +} // namespace pointcloud_to_laserscan + +#endif // POINTCLOUD_TO_LASERSCAN__LASERSCAN_TO_POINTCLOUD_NODE_HPP_ diff --git a/src/rm_nav/rm_perception/pointcloud_to_laserscan/include/pointcloud_to_laserscan/pointcloud_to_laserscan_node.hpp b/src/rm_nav/rm_perception/pointcloud_to_laserscan/include/pointcloud_to_laserscan/pointcloud_to_laserscan_node.hpp new file mode 100644 index 0000000..fe0aacd --- /dev/null +++ b/src/rm_nav/rm_perception/pointcloud_to_laserscan/include/pointcloud_to_laserscan/pointcloud_to_laserscan_node.hpp @@ -0,0 +1,102 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2010-2012, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * + */ + +/* + * Author: Paul Bovbel + */ + +#ifndef POINTCLOUD_TO_LASERSCAN__POINTCLOUD_TO_LASERSCAN_NODE_HPP_ +#define POINTCLOUD_TO_LASERSCAN__POINTCLOUD_TO_LASERSCAN_NODE_HPP_ + +#include +#include +#include +#include + +#include "message_filters/subscriber.h" +#include "tf2_ros/buffer.h" +#include "tf2_ros/message_filter.h" +#include "tf2_ros/transform_listener.h" + +#include "rclcpp/rclcpp.hpp" +#include "sensor_msgs/msg/laser_scan.hpp" +#include "sensor_msgs/msg/point_cloud2.hpp" + +#include "pointcloud_to_laserscan/visibility_control.h" + +namespace pointcloud_to_laserscan +{ +typedef tf2_ros::MessageFilter MessageFilter; + +/** +* Class to process incoming pointclouds into laserscans. +* Some initial code was pulled from the defunct turtlebot pointcloud_to_laserscan implementation. +*/ +class PointCloudToLaserScanNode : public rclcpp::Node +{ +public: + POINTCLOUD_TO_LASERSCAN_PUBLIC + explicit PointCloudToLaserScanNode(const rclcpp::NodeOptions & options); + + ~PointCloudToLaserScanNode() override; + +private: + void cloudCallback(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud_msg); + + void subscriptionListenerThreadLoop(); + + std::unique_ptr tf2_; + std::unique_ptr tf2_listener_; + message_filters::Subscriber sub_; + std::shared_ptr> pub_; + std::unique_ptr message_filter_; + + std::thread subscription_listener_thread_; + std::atomic_bool alive_{true}; + + // ROS Parameters + int input_queue_size_; + std::string target_frame_; + double tolerance_; + double min_height_, max_height_, angle_min_, angle_max_, angle_increment_, scan_time_, range_min_, + range_max_; + bool use_inf_; + double inf_epsilon_; +}; + +} // namespace pointcloud_to_laserscan + +#endif // POINTCLOUD_TO_LASERSCAN__POINTCLOUD_TO_LASERSCAN_NODE_HPP_ diff --git a/src/rm_nav/rm_perception/pointcloud_to_laserscan/include/pointcloud_to_laserscan/visibility_control.h b/src/rm_nav/rm_perception/pointcloud_to_laserscan/include/pointcloud_to_laserscan/visibility_control.h new file mode 100644 index 0000000..7058490 --- /dev/null +++ b/src/rm_nav/rm_perception/pointcloud_to_laserscan/include/pointcloud_to_laserscan/visibility_control.h @@ -0,0 +1,80 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2019, Eurotec, Netherlands + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * + */ + +#ifndef POINTCLOUD_TO_LASERSCAN__VISIBILITY_CONTROL_H_ +#define POINTCLOUD_TO_LASERSCAN__VISIBILITY_CONTROL_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +// This logic was borrowed (then namespaced) from the examples on the gcc wiki: +// https://gcc.gnu.org/wiki/Visibility + +#if defined _WIN32 || defined __CYGWIN__ + #ifdef __GNUC__ + #define POINTCLOUD_TO_LASERSCAN_EXPORT __attribute__ ((dllexport)) + #define POINTCLOUD_TO_LASERSCAN_IMPORT __attribute__ ((dllimport)) + #else + #define POINTCLOUD_TO_LASERSCAN_EXPORT __declspec(dllexport) + #define POINTCLOUD_TO_LASERSCAN_IMPORT __declspec(dllimport) + #endif + #ifdef POINTCLOUD_TO_LASERSCAN_BUILDING_DLL + #define POINTCLOUD_TO_LASERSCAN_PUBLIC POINTCLOUD_TO_LASERSCAN_EXPORT + #else + #define POINTCLOUD_TO_LASERSCAN_PUBLIC POINTCLOUD_TO_LASERSCAN_IMPORT + #endif + #define POINTCLOUD_TO_LASERSCAN_PUBLIC_TYPE POINTCLOUD_TO_LASERSCAN_PUBLIC + #define POINTCLOUD_TO_LASERSCAN_LOCAL +#else + #define POINTCLOUD_TO_LASERSCAN_EXPORT __attribute__ ((visibility("default"))) + #define POINTCLOUD_TO_LASERSCAN_IMPORT + #if __GNUC__ >= 4 + #define POINTCLOUD_TO_LASERSCAN_PUBLIC __attribute__ ((visibility("default"))) + #define POINTCLOUD_TO_LASERSCAN_LOCAL __attribute__ ((visibility("hidden"))) + #else + #define POINTCLOUD_TO_LASERSCAN_PUBLIC + #define POINTCLOUD_TO_LASERSCAN_LOCAL + #endif + #define POINTCLOUD_TO_LASERSCAN_PUBLIC_TYPE +#endif + +#ifdef __cplusplus +} +#endif + +#endif // POINTCLOUD_TO_LASERSCAN__VISIBILITY_CONTROL_H_ diff --git a/src/rm_nav/rm_perception/pointcloud_to_laserscan/launch/pointcloud_to_laserscan_launch.py b/src/rm_nav/rm_perception/pointcloud_to_laserscan/launch/pointcloud_to_laserscan_launch.py new file mode 100644 index 0000000..02f9119 --- /dev/null +++ b/src/rm_nav/rm_perception/pointcloud_to_laserscan/launch/pointcloud_to_laserscan_launch.py @@ -0,0 +1,33 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + return LaunchDescription([ + DeclareLaunchArgument( + name='scanner', default_value='scanner', + description='Namespace for sample topics' + ), + Node( + package='pointcloud_to_laserscan', executable='pointcloud_to_laserscan_node', + remappings=[('cloud_in', ['/segmentation/obstacle']), + ('scan', ['/scan'])], + parameters=[{ + 'target_frame': 'livox_frame', + 'transform_tolerance': 0.01, + 'min_height': -1.0, + 'max_height': 0.1, + 'angle_min': -3.14159, # -M_PI/2 + 'angle_max': 3.14159, # M_PI/2 + 'angle_increment': 0.0043, # M_PI/360.0 + 'scan_time': 0.3333, + 'range_min': 0.45, + 'range_max': 10.0, + 'use_inf': True, + 'inf_epsilon': 1.0 + }], + name='pointcloud_to_laserscan' + ) + ]) \ No newline at end of file diff --git a/src/rm_nav/rm_perception/pointcloud_to_laserscan/launch/sample_laserscan_to_pointcloud_launch.py b/src/rm_nav/rm_perception/pointcloud_to_laserscan/launch/sample_laserscan_to_pointcloud_launch.py new file mode 100644 index 0000000..2f711d7 --- /dev/null +++ b/src/rm_nav/rm_perception/pointcloud_to_laserscan/launch/sample_laserscan_to_pointcloud_launch.py @@ -0,0 +1,47 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.actions import ExecuteProcess +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + +import yaml + + +def generate_launch_description(): + return LaunchDescription([ + DeclareLaunchArgument( + name='scanner', default_value='scanner', + description='Namespace for sample topics' + ), + ExecuteProcess( + cmd=[ + 'ros2', 'topic', 'pub', '-r', '10', + '--qos-profile', 'sensor_data', + [LaunchConfiguration(variable_name='scanner'), '/scan'], + 'sensor_msgs/msg/LaserScan', yaml.dump({ + 'header': {'frame_id': 'scan'}, 'angle_min': -1.0, + 'angle_max': 1.0, 'angle_increment': 0.1, 'range_max': 10.0, + 'ranges': [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1] + }) + ], + name='scan_publisher' + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + name='static_transform_publisher', + arguments=[ + '--x', '0', '--y', '0', '--z', '0', + '--qx', '0', '--qy', '0', '--qz', '0', '--qw', '1', + '--frame-id', 'map', '--child-frame-id', 'scan' + ] + ), + Node( + package='pointcloud_to_laserscan', + executable='laserscan_to_pointcloud_node', + name='laserscan_to_pointcloud', + remappings=[('scan_in', [LaunchConfiguration(variable_name='scanner'), '/scan']), + ('cloud', [LaunchConfiguration(variable_name='scanner'), '/cloud'])], + parameters=[{'target_frame': 'scan', 'transform_tolerance': 0.01}] + ), + ]) diff --git a/src/rm_nav/rm_perception/pointcloud_to_laserscan/launch/sample_pointcloud_to_laserscan_launch.py b/src/rm_nav/rm_perception/pointcloud_to_laserscan/launch/sample_pointcloud_to_laserscan_launch.py new file mode 100644 index 0000000..b8ac473 --- /dev/null +++ b/src/rm_nav/rm_perception/pointcloud_to_laserscan/launch/sample_pointcloud_to_laserscan_launch.py @@ -0,0 +1,49 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + return LaunchDescription([ + DeclareLaunchArgument( + name='scanner', default_value='scanner', + description='Namespace for sample topics' + ), + Node( + package='pointcloud_to_laserscan', executable='dummy_pointcloud_publisher', + remappings=[('cloud', [LaunchConfiguration(variable_name='scanner'), '/cloud'])], + parameters=[{'cloud_frame_id': 'cloud', 'cloud_extent': 2.0, 'cloud_size': 500}], + name='cloud_publisher' + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + name='static_transform_publisher', + arguments=[ + '--x', '0', '--y', '0', '--z', '0', + '--qx', '0', '--qy', '0', '--qz', '0', '--qw', '1', + '--frame-id', 'map', '--child-frame-id', 'cloud' + ] + ), + Node( + package='pointcloud_to_laserscan', executable='pointcloud_to_laserscan_node', + remappings=[('cloud_in', [LaunchConfiguration(variable_name='scanner'), '/cloud']), + ('scan', [LaunchConfiguration(variable_name='scanner'), '/scan'])], + parameters=[{ + 'target_frame': 'cloud', + 'transform_tolerance': 0.01, + 'min_height': 0.0, + 'max_height': 1.0, + 'angle_min': -1.5708, # -M_PI/2 + 'angle_max': 1.5708, # M_PI/2 + 'angle_increment': 0.0087, # M_PI/360.0 + 'scan_time': 0.3333, + 'range_min': 0.45, + 'range_max': 4.0, + 'use_inf': True, + 'inf_epsilon': 1.0 + }], + name='pointcloud_to_laserscan' + ) + ]) diff --git a/src/rm_nav/rm_perception/pointcloud_to_laserscan/package.xml b/src/rm_nav/rm_perception/pointcloud_to_laserscan/package.xml new file mode 100644 index 0000000..3d9ec2f --- /dev/null +++ b/src/rm_nav/rm_perception/pointcloud_to_laserscan/package.xml @@ -0,0 +1,46 @@ + + + pointcloud_to_laserscan + 2.0.1 + Converts a 3D Point Cloud into a 2D laser scan. This is useful for making devices like the Kinect appear like a laser scanner for 2D-based algorithms (e.g. laser-based SLAM). + + Paul Bovbel + Michel Hidalgo + Paul Bovbel + Michel Hidalgo + Tully Foote + + BSD + + http://ros.org/wiki/perception_pcl + https://github.com/ros-perception/perception_pcl/issues + https://github.com/ros-perception/perception_pcl + + ament_cmake_auto + + laser_geometry + message_filters + rclcpp + rclcpp_components + sensor_msgs + tf2 + tf2_ros + tf2_sensor_msgs + + launch + launch_ros + + ament_lint_auto + + ament_cmake_cppcheck + ament_cmake_cpplint + ament_cmake_flake8 + ament_cmake_lint_cmake + ament_cmake_pep257 + ament_cmake_uncrustify + ament_cmake_xmllint + + + ament_cmake + + diff --git a/src/rm_nav/rm_perception/pointcloud_to_laserscan/src/dummy_pointcloud_publisher.cpp b/src/rm_nav/rm_perception/pointcloud_to_laserscan/src/dummy_pointcloud_publisher.cpp new file mode 100644 index 0000000..c4b7349 --- /dev/null +++ b/src/rm_nav/rm_perception/pointcloud_to_laserscan/src/dummy_pointcloud_publisher.cpp @@ -0,0 +1,85 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2020, Open Source Robotics Foundation, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * + */ + +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "sensor_msgs/msg/point_cloud2.hpp" +#include "sensor_msgs/point_cloud2_iterator.hpp" + +int main(int argc, char * argv[]) +{ + rclcpp::init(argc, argv); + + auto node = std::make_shared("dummy_pointcloud_publisher"); + auto pub = + node->create_publisher("cloud", rclcpp::SensorDataQoS()); + + sensor_msgs::msg::PointCloud2 dummy_cloud; + sensor_msgs::PointCloud2Modifier modifier(dummy_cloud); + modifier.setPointCloud2Fields( + 3, + "x", 1, sensor_msgs::msg::PointField::FLOAT32, + "y", 1, sensor_msgs::msg::PointField::FLOAT32, + "z", 1, sensor_msgs::msg::PointField::FLOAT32); + modifier.resize(node->declare_parameter("cloud_size", 100)); + std::mt19937 gen(node->declare_parameter("cloud_seed", 0)); + double extent = node->declare_parameter("cloud_extent", 10.0); + std::uniform_real_distribution distribution(-extent / 2, extent / 2); + sensor_msgs::PointCloud2Iterator it_x(dummy_cloud, "x"); + sensor_msgs::PointCloud2Iterator it_y(dummy_cloud, "y"); + sensor_msgs::PointCloud2Iterator it_z(dummy_cloud, "z"); + for (; it_x != it_x.end(); ++it_x, ++it_y, ++it_z) { + *it_x = distribution(gen); + *it_y = distribution(gen); + *it_z = distribution(gen); + } + dummy_cloud.header.frame_id = node->declare_parameter("cloud_frame_id", ""); + + rclcpp::executors::SingleThreadedExecutor executor; + executor.add_node(node); + rclcpp::Rate rate(1.0); + while (rclcpp::ok()) { + dummy_cloud.header.stamp = node->get_clock()->now(); + pub->publish(dummy_cloud); + executor.spin_some(); + rate.sleep(); + } + + rclcpp::shutdown(); + return 0; +} diff --git a/src/rm_nav/rm_perception/pointcloud_to_laserscan/src/laserscan_to_pointcloud_node.cpp b/src/rm_nav/rm_perception/pointcloud_to_laserscan/src/laserscan_to_pointcloud_node.cpp new file mode 100644 index 0000000..2d2726f --- /dev/null +++ b/src/rm_nav/rm_perception/pointcloud_to_laserscan/src/laserscan_to_pointcloud_node.cpp @@ -0,0 +1,150 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2019, Eurotec, Netherlands + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * + */ + +/* + * Author: Rein Appeldoorn + */ + +#include "pointcloud_to_laserscan/laserscan_to_pointcloud_node.hpp" + +#include +#include +#include +#include +#include +#include +#include + +#include "sensor_msgs/point_cloud2_iterator.hpp" +#include "tf2_sensor_msgs/tf2_sensor_msgs.hpp" +#include "tf2_ros/create_timer_ros.h" + +namespace pointcloud_to_laserscan +{ + +LaserScanToPointCloudNode::LaserScanToPointCloudNode(const rclcpp::NodeOptions & options) +: rclcpp::Node("laserscan_to_pointcloud", options) +{ + target_frame_ = this->declare_parameter("target_frame", ""); + tolerance_ = this->declare_parameter("transform_tolerance", 0.01); + // TODO(hidmic): adjust default input queue size based on actual concurrency levels + // achievable by the associated executor + input_queue_size_ = this->declare_parameter( + "queue_size", static_cast(std::thread::hardware_concurrency())); + + pub_ = this->create_publisher("cloud", rclcpp::SensorDataQoS()); + + using std::placeholders::_1; + // if pointcloud target frame specified, we need to filter by transform availability + if (!target_frame_.empty()) { + tf2_ = std::make_unique(this->get_clock()); + auto timer_interface = std::make_shared( + this->get_node_base_interface(), this->get_node_timers_interface()); + tf2_->setCreateTimerInterface(timer_interface); + tf2_listener_ = std::make_unique(*tf2_); + message_filter_ = std::make_unique( + sub_, *tf2_, target_frame_, input_queue_size_, + this->get_node_logging_interface(), + this->get_node_clock_interface()); + message_filter_->registerCallback( + std::bind( + &LaserScanToPointCloudNode::scanCallback, this, _1)); + } else { // otherwise setup direct subscription + sub_.registerCallback(std::bind(&LaserScanToPointCloudNode::scanCallback, this, _1)); + } + + subscription_listener_thread_ = std::thread( + std::bind(&LaserScanToPointCloudNode::subscriptionListenerThreadLoop, this)); +} + +LaserScanToPointCloudNode::~LaserScanToPointCloudNode() +{ + alive_.store(true); + subscription_listener_thread_.join(); +} + +void LaserScanToPointCloudNode::subscriptionListenerThreadLoop() +{ + rclcpp::Context::SharedPtr context = this->get_node_base_interface()->get_context(); + + const std::chrono::milliseconds timeout(100); + while (rclcpp::ok(context) && alive_.load()) { + int subscription_count = pub_->get_subscription_count() + + pub_->get_intra_process_subscription_count(); + if (subscription_count > 0) { + if (!sub_.getSubscriber()) { + RCLCPP_INFO( + this->get_logger(), + "Got a subscriber to pointcloud, starting laserscan subscriber"); + rclcpp::SensorDataQoS qos; + qos.keep_last(input_queue_size_); + sub_.subscribe(this, "scan_in", qos.get_rmw_qos_profile()); + } + } else if (sub_.getSubscriber()) { + RCLCPP_INFO( + this->get_logger(), + "No subscribers to pointcloud, shutting down laserscan subscriber"); + sub_.unsubscribe(); + } + rclcpp::Event::SharedPtr event = this->get_graph_event(); + this->wait_for_graph_change(event, timeout); + } + sub_.unsubscribe(); +} + +void LaserScanToPointCloudNode::scanCallback(sensor_msgs::msg::LaserScan::ConstSharedPtr scan_msg) +{ + auto cloud_msg = std::make_unique(); + + projector_.projectLaser(*scan_msg, *cloud_msg); + + // Transform cloud if necessary + if (!target_frame_.empty() && cloud_msg->header.frame_id != target_frame_) { + try { + *cloud_msg = tf2_->transform(*cloud_msg, target_frame_, tf2::durationFromSec(tolerance_)); + } catch (tf2::TransformException & ex) { + RCLCPP_ERROR_STREAM(this->get_logger(), "Transform failure: " << ex.what()); + return; + } + } + pub_->publish(std::move(cloud_msg)); +} + +} // namespace pointcloud_to_laserscan + +#include "rclcpp_components/register_node_macro.hpp" + +RCLCPP_COMPONENTS_REGISTER_NODE(pointcloud_to_laserscan::LaserScanToPointCloudNode) diff --git a/src/rm_nav/rm_perception/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp b/src/rm_nav/rm_perception/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp new file mode 100644 index 0000000..ca0039f --- /dev/null +++ b/src/rm_nav/rm_perception/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp @@ -0,0 +1,237 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2010-2012, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * + */ + +/* + * Author: Paul Bovbel + */ + +#include "pointcloud_to_laserscan/pointcloud_to_laserscan_node.hpp" + +#include +#include +#include +#include +#include +#include +#include + +#include "sensor_msgs/point_cloud2_iterator.hpp" +#include "tf2_sensor_msgs/tf2_sensor_msgs.hpp" +#include "tf2_ros/create_timer_ros.h" + +namespace pointcloud_to_laserscan +{ + +PointCloudToLaserScanNode::PointCloudToLaserScanNode(const rclcpp::NodeOptions & options) +: rclcpp::Node("pointcloud_to_laserscan", options) +{ + target_frame_ = this->declare_parameter("target_frame", ""); + tolerance_ = this->declare_parameter("transform_tolerance", 0.01); + // TODO(hidmic): adjust default input queue size based on actual concurrency levels + // achievable by the associated executor + input_queue_size_ = this->declare_parameter( + "queue_size", static_cast(std::thread::hardware_concurrency())); + min_height_ = this->declare_parameter("min_height", std::numeric_limits::min()); + max_height_ = this->declare_parameter("max_height", std::numeric_limits::max()); + angle_min_ = this->declare_parameter("angle_min", -M_PI); + angle_max_ = this->declare_parameter("angle_max", M_PI); + angle_increment_ = this->declare_parameter("angle_increment", M_PI / 180.0); + scan_time_ = this->declare_parameter("scan_time", 1.0 / 30.0); + range_min_ = this->declare_parameter("range_min", 0.0); + range_max_ = this->declare_parameter("range_max", std::numeric_limits::max()); + inf_epsilon_ = this->declare_parameter("inf_epsilon", 1.0); + use_inf_ = this->declare_parameter("use_inf", true); + + pub_ = this->create_publisher("scan", rclcpp::SensorDataQoS()); + + using std::placeholders::_1; + // if pointcloud target frame specified, we need to filter by transform availability + if (!target_frame_.empty()) { + tf2_ = std::make_unique(this->get_clock()); + auto timer_interface = std::make_shared( + this->get_node_base_interface(), this->get_node_timers_interface()); + tf2_->setCreateTimerInterface(timer_interface); + tf2_listener_ = std::make_unique(*tf2_); + message_filter_ = std::make_unique( + sub_, *tf2_, target_frame_, input_queue_size_, + this->get_node_logging_interface(), + this->get_node_clock_interface()); + message_filter_->registerCallback( + std::bind(&PointCloudToLaserScanNode::cloudCallback, this, _1)); + } else { // otherwise setup direct subscription + sub_.registerCallback(std::bind(&PointCloudToLaserScanNode::cloudCallback, this, _1)); + } + + subscription_listener_thread_ = std::thread( + std::bind(&PointCloudToLaserScanNode::subscriptionListenerThreadLoop, this)); +} + +PointCloudToLaserScanNode::~PointCloudToLaserScanNode() +{ + alive_.store(false); + subscription_listener_thread_.join(); +} + +void PointCloudToLaserScanNode::subscriptionListenerThreadLoop() +{ + rclcpp::Context::SharedPtr context = this->get_node_base_interface()->get_context(); + + const std::chrono::milliseconds timeout(100); + while (rclcpp::ok(context) && alive_.load()) { + int subscription_count = pub_->get_subscription_count() + + pub_->get_intra_process_subscription_count(); + if (subscription_count > 0) { + if (!sub_.getSubscriber()) { + RCLCPP_INFO( + this->get_logger(), + "Got a subscriber to laserscan, starting pointcloud subscriber"); + rclcpp::SensorDataQoS qos; + qos.keep_last(input_queue_size_); + sub_.subscribe(this, "cloud_in", qos.get_rmw_qos_profile()); + } + } else if (sub_.getSubscriber()) { + RCLCPP_INFO( + this->get_logger(), + "No subscribers to laserscan, shutting down pointcloud subscriber"); + sub_.unsubscribe(); + } + rclcpp::Event::SharedPtr event = this->get_graph_event(); + this->wait_for_graph_change(event, timeout); + } + sub_.unsubscribe(); +} + +void PointCloudToLaserScanNode::cloudCallback( + sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud_msg) +{ + // build laserscan output + auto scan_msg = std::make_unique(); + scan_msg->header = cloud_msg->header; + if (!target_frame_.empty()) { + scan_msg->header.frame_id = target_frame_; + } + + scan_msg->angle_min = angle_min_; + scan_msg->angle_max = angle_max_; + scan_msg->angle_increment = angle_increment_; + scan_msg->time_increment = 0.0; + scan_msg->scan_time = scan_time_; + scan_msg->range_min = range_min_; + scan_msg->range_max = range_max_; + + // determine amount of rays to create + uint32_t ranges_size = std::ceil( + (scan_msg->angle_max - scan_msg->angle_min) / scan_msg->angle_increment); + + // determine if laserscan rays with no obstacle data will evaluate to infinity or max_range + if (use_inf_) { + scan_msg->ranges.assign(ranges_size, std::numeric_limits::infinity()); + } else { + scan_msg->ranges.assign(ranges_size, scan_msg->range_max + inf_epsilon_); + } + + // Transform cloud if necessary + if (scan_msg->header.frame_id != cloud_msg->header.frame_id) { + try { + auto cloud = std::make_shared(); + tf2_->transform(*cloud_msg, *cloud, target_frame_, tf2::durationFromSec(tolerance_)); + cloud_msg = cloud; + } catch (tf2::TransformException & ex) { + RCLCPP_ERROR_STREAM(this->get_logger(), "Transform failure: " << ex.what()); + return; + } + } + + // Iterate through pointcloud + for (sensor_msgs::PointCloud2ConstIterator iter_x(*cloud_msg, "x"), + iter_y(*cloud_msg, "y"), iter_z(*cloud_msg, "z"); + iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z) + { + if (std::isnan(*iter_x) || std::isnan(*iter_y) || std::isnan(*iter_z)) { + RCLCPP_DEBUG( + this->get_logger(), + "rejected for nan in point(%f, %f, %f)\n", + *iter_x, *iter_y, *iter_z); + continue; + } + + if (*iter_z > max_height_ || *iter_z < min_height_) { + RCLCPP_DEBUG( + this->get_logger(), + "rejected for height %f not in range (%f, %f)\n", + *iter_z, min_height_, max_height_); + continue; + } + + double range = hypot(*iter_x, *iter_y); + if (range < range_min_) { + RCLCPP_DEBUG( + this->get_logger(), + "rejected for range %f below minimum value %f. Point: (%f, %f, %f)", + range, range_min_, *iter_x, *iter_y, *iter_z); + continue; + } + if (range > range_max_) { + RCLCPP_DEBUG( + this->get_logger(), + "rejected for range %f above maximum value %f. Point: (%f, %f, %f)", + range, range_max_, *iter_x, *iter_y, *iter_z); + continue; + } + + double angle = atan2(*iter_y, *iter_x); + if (angle < scan_msg->angle_min || angle > scan_msg->angle_max) { + RCLCPP_DEBUG( + this->get_logger(), + "rejected for angle %f not in range (%f, %f)\n", + angle, scan_msg->angle_min, scan_msg->angle_max); + continue; + } + + // overwrite range at laserscan ray if new range is smaller + int index = (angle - scan_msg->angle_min) / scan_msg->angle_increment; + if (range < scan_msg->ranges[index]) { + scan_msg->ranges[index] = range; + } + } + pub_->publish(std::move(scan_msg)); +} + +} // namespace pointcloud_to_laserscan + +#include "rclcpp_components/register_node_macro.hpp" + +RCLCPP_COMPONENTS_REGISTER_NODE(pointcloud_to_laserscan::PointCloudToLaserScanNode) diff --git a/src/rm_nav/rm_simpal_move/CMakeLists.txt b/src/rm_nav/rm_simpal_move/CMakeLists.txt new file mode 100644 index 0000000..6671c60 --- /dev/null +++ b/src/rm_nav/rm_simpal_move/CMakeLists.txt @@ -0,0 +1,53 @@ +cmake_minimum_required(VERSION 3.8) +project(rm_simpal_move) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(rclcpp_components REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(tf2_geometry_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(rm_msgs REQUIRED) + +# include directories +include_directories(include) + +# add library +add_library(rm_simpal_move SHARED src/simple_move.cpp) + +# link libraries +ament_target_dependencies(rm_simpal_move rclcpp rclcpp_components tf2_ros geometry_msgs tf2_geometry_msgs rm_msgs) + +# register node +rclcpp_components_register_nodes(rm_simpal_move "rm_simpal_move::RMSimpleMove") + +# install targets +install(TARGETS rm_simpal_move + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin +) + +# install launch files +install(DIRECTORY launch + DESTINATION share/${PROJECT_NAME}/ +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() \ No newline at end of file diff --git a/src/rm_nav/rm_simpal_move/README.md b/src/rm_nav/rm_simpal_move/README.md new file mode 100644 index 0000000..5bad226 --- /dev/null +++ b/src/rm_nav/rm_simpal_move/README.md @@ -0,0 +1 @@ +ros2 topic pub /goal_pose rm_msgs/msg/GoalPose "{x: 0.0, y: 0.0, angle: 0.0, max_speed: 1.0, tolerance: 0.00001, rotor: true}" diff --git a/src/rm_nav/rm_simpal_move/include/rm_simpal_move/simple_move.hpp b/src/rm_nav/rm_simpal_move/include/rm_simpal_move/simple_move.hpp new file mode 100644 index 0000000..24c0a21 --- /dev/null +++ b/src/rm_nav/rm_simpal_move/include/rm_simpal_move/simple_move.hpp @@ -0,0 +1,64 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace rm_simpal_move { + +struct AHRS_Eulr_t { + float yaw; + float rol; + float pit; +}; + +struct Goal_t { + float x; + float y; + float angle; + float max_speed; + float tolerance; + bool rotor; +}; + +class RMSimpleMove : public rclcpp::Node { +public: + RMSimpleMove(const rclcpp::NodeOptions &options); + ~RMSimpleMove() override; + +private: + void timer_callback(); + void goal_pose_callback(const rm_msgs::msg::MoveGoal::SharedPtr msg); + int8_t AHRS_GetEulr(AHRS_Eulr_t *eulr, const geometry_msgs::msg::Quaternion &quat); + float calc_linear_velocity(float distance, float max_speed); + float calc_angular_velocity(float yaw, float target_yaw); + bool is_goal_reached(float x, float y, float tolerance); + + tf2_ros::Buffer tf_buffer_; + tf2_ros::TransformListener tf_listener_; + std::shared_ptr tf_broadcaster_; + rclcpp::TimerBase::SharedPtr timer_; + rclcpp::Subscription::SharedPtr goal_pose_sub_; + rclcpp::Publisher::SharedPtr data_ai_pub_; + rclcpp::Publisher::SharedPtr data_nav_pub_; + std::atomic running_; + std::thread timer_thread_; + std::atomic goal_reached_; + AHRS_Eulr_t current_eulr_; + Goal_t goal_pose_; +}; + +} // namespace rm_simpal_move + +RCLCPP_COMPONENTS_REGISTER_NODE(rm_simpal_move::RMSimpleMove) \ No newline at end of file diff --git a/src/rm_nav/rm_simpal_move/launch/simple_move.launch.py b/src/rm_nav/rm_simpal_move/launch/simple_move.launch.py new file mode 100644 index 0000000..ebbb9bb --- /dev/null +++ b/src/rm_nav/rm_simpal_move/launch/simple_move.launch.py @@ -0,0 +1,27 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import ComposableNodeContainer +from launch_ros.descriptions import ComposableNode + +def generate_launch_description(): + return LaunchDescription([ + ComposableNodeContainer( + name='simple_move_container', + namespace='', + package='rclcpp_components', + executable='component_container', + composable_node_descriptions=[ + ComposableNode( + package='rm_simpal_move', + plugin='rm_simpal_move::RMSimpleMove', + name='global_position_listener', + parameters=[ + {'use_sim_time': False} + ] + ), + ], + output='screen', + ), + ]) \ No newline at end of file diff --git a/src/rm_nav/rm_simpal_move/package.xml b/src/rm_nav/rm_simpal_move/package.xml new file mode 100644 index 0000000..3bfcb80 --- /dev/null +++ b/src/rm_nav/rm_simpal_move/package.xml @@ -0,0 +1,24 @@ + + + rm_simpal_move + 0.0.0 + TODO: Package description + robofish + TODO: License declaration + + ament_cmake + + rclcpp + tf2_ros + geometry_msgs + launch + launch_ros + rm_msgs + + ament_lint_auto + ament_lint_common + + + ament_cmake + + \ No newline at end of file diff --git a/src/rm_nav/rm_simpal_move/src/simple_move.cpp b/src/rm_nav/rm_simpal_move/src/simple_move.cpp new file mode 100644 index 0000000..65fa5df --- /dev/null +++ b/src/rm_nav/rm_simpal_move/src/simple_move.cpp @@ -0,0 +1,202 @@ +#include "rm_simpal_move/simple_move.hpp" + +namespace rm_simpal_move +{ + + /** + * @brief 获取欧拉角: + * @param eulr + * @param quat + * @return + */ + int8_t RMSimpleMove::AHRS_GetEulr(AHRS_Eulr_t *eulr, const geometry_msgs::msg::Quaternion &quat) + { + if (!eulr) + return -1; + + const float sinr_cosp = 2.0f * (quat.w * quat.x + quat.y * quat.z); + const float cosr_cosp = 1.0f - 2.0f * (quat.x * quat.x + quat.y * quat.y); + eulr->pit = atan2f(sinr_cosp, cosr_cosp); + + const float sinp = 2.0f * (quat.w * quat.y - quat.z * quat.x); + eulr->rol = fabsf(sinp) >= 1.0f ? copysignf(M_PI / 2.0f, sinp) : asinf(sinp); + + const float siny_cosp = 2.0f * (quat.w * quat.z + quat.x * quat.y); + const float cosy_cosp = 1.0f - 2.0f * (quat.y * quat.y + quat.z * quat.z); + eulr->yaw = atan2f(siny_cosp, cosy_cosp); + + return 0; + } + + /** + * @brief RMSimpleMove 构造函数 + */ + RMSimpleMove::RMSimpleMove(const rclcpp::NodeOptions &options) + : Node("global_position_listener", options), tf_buffer_(this->get_clock()), tf_listener_(tf_buffer_), running_(true), goal_reached_(false) + { + tf_broadcaster_ = std::make_shared(this); + timer_ = this->create_wall_timer(std::chrono::milliseconds(100), std::bind(&RMSimpleMove::timer_callback, this)); + goal_pose_sub_ = this->create_subscription("/move_goal", 10, std::bind(&RMSimpleMove::goal_pose_callback, this, std::placeholders::_1)); + data_ai_pub_ = this->create_publisher("/chassis/data_ai", 10); + data_nav_pub_ = this->create_publisher("/chassis/data_nav", 10); + RCLCPP_INFO(this->get_logger(), "RMSimpleMove 启动！！！"); + } + + /** + * @brief RMSimpleMove 析构函数 + */ + RMSimpleMove::~RMSimpleMove() + { + running_.store(false); + if (timer_thread_.joinable()) + { + timer_thread_.join(); + } + } + + /** + * @brief 定时器回调函数 + */ + + void RMSimpleMove::timer_callback() + { + /*获取当前base_link相对于map的坐标变换*/ + try + { + auto trans = tf_buffer_.lookupTransform("map", "base_link", tf2::TimePointZero); + AHRS_GetEulr(¤t_eulr_, trans.transform.rotation); + RCLCPP_INFO(this->get_logger(), "pitch=%f, roll=%f, yaw=%f", current_eulr_.pit, current_eulr_.rol, current_eulr_.yaw); + + // 发布目标点的 TF 变换 + geometry_msgs::msg::TransformStamped goal_transform; + goal_transform.header.stamp = this->get_clock()->now(); + goal_transform.header.frame_id = "map"; + goal_transform.child_frame_id = "goal_pose"; + goal_transform.transform.translation.x = goal_pose_.x; + goal_transform.transform.translation.y = goal_pose_.y; + goal_transform.transform.translation.z = 0.0; + goal_transform.transform.rotation.x = 0.0; + goal_transform.transform.rotation.y = 0.0; + goal_transform.transform.rotation.z = 0.0; + goal_transform.transform.rotation.w = 1.0; + + tf_broadcaster_->sendTransform(goal_transform); + + // 计算当前位置到goal_pose和base_link的坐标变换 + geometry_msgs::msg::TransformStamped goal_in_base_link; + goal_in_base_link = tf_buffer_.lookupTransform("base_link", "goal_pose", tf2::TimePointZero); + + float goal_x_in_base_link = goal_in_base_link.transform.translation.x; + float goal_y_in_base_link = goal_in_base_link.transform.translation.y; + // 发布 DataNav 消息 + auto data_nav_msg = rm_msgs::msg::DataNav(); + if (is_goal_reached(goal_x_in_base_link, goal_y_in_base_link, goal_pose_.tolerance)) + { + if (!goal_reached_) + { + data_nav_msg.reached = true; + goal_reached_ = true; + } + } + else + { + data_nav_msg.reached = false; + goal_reached_ = false; + } + // data_nav_msg.x = goal_x_in_base_link; + // data_nav_msg.y = goal_y_in_base_link; + //发布当前位置 + data_nav_msg.x = trans.transform.translation.x; + data_nav_msg.y = trans.transform.translation.y; + data_nav_msg.yaw = current_eulr_.yaw; + data_nav_pub_->publish(data_nav_msg); + // 发布 DataAI 消息 + auto data_ai_msg = rm_msgs::msg::DataAI(); + data_ai_msg.vx = -calc_linear_velocity(goal_y_in_base_link, goal_pose_.max_speed); + data_ai_msg.vy = calc_linear_velocity(goal_x_in_base_link, goal_pose_.max_speed); + data_ai_msg.yaw = -calc_angular_velocity(current_eulr_.yaw, goal_pose_.angle); + if (goal_pose_.rotor) + { + data_ai_msg.notice = 0b11000000; + } + else + { + data_ai_msg.notice = 0b00000000; + } + data_ai_pub_->publish(data_ai_msg); + + RCLCPP_INFO(this->get_logger(), "Goal pose relative to base_link: x=%f, y=%f", goal_x_in_base_link, goal_y_in_base_link); + } + catch (const tf2::TransformException &ex) + { + RCLCPP_WARN(this->get_logger(), "Could not transform base_link to map: %s", ex.what()); + } + } + + + /** + * @brief 目标点回调函数 + * @param msg + */ + void RMSimpleMove::goal_pose_callback(const rm_msgs::msg::MoveGoal::SharedPtr msg) + { + goal_pose_.x = msg->x; + goal_pose_.y = msg->y; + goal_pose_.angle = msg->angle; + goal_pose_.max_speed = msg->max_speed; + goal_pose_.tolerance = msg->tolerance; + goal_pose_.rotor = msg->rotor; + RCLCPP_INFO(this->get_logger(), "Received goal pose: x=%f, y=%f, angle=%f", msg->x, msg->y, msg->angle); + } + + /** + * @brief 简单的线性速度计算 + * @param distance + * @param max_speed + * @return + */ + float RMSimpleMove::calc_linear_velocity(float distance, float max_speed) + { + float k_linear = 0.5f; + float velocity = k_linear * distance; + if (abs(velocity) > max_speed) + { + velocity = copysign(max_speed, velocity); + } + return velocity; + } + + /** + * @brief 简单的角速度计算 + * @param yaw + * @param target_yaw + * @return + */ + float RMSimpleMove::calc_angular_velocity(float yaw, float target_yaw) + { + // yaw范围是[-pi, pi]，运动方向取最优方向 + float angle_diff = target_yaw - yaw; + if (angle_diff > M_PI) + { + angle_diff -= 2 * M_PI; + } + else if (angle_diff < -M_PI) + { + angle_diff += 2 * M_PI; + } + float k_angular = 0.001f; + return k_angular * angle_diff; + } + + /** + * @brief 判断是否到达目标点 + * @param x + * @param y + * @param tolerance + * @return + */ + bool RMSimpleMove::is_goal_reached(float x, float y, float tolerance) + { + return sqrt(x * x + y * y) < tolerance; + } +} // namespace rm_simpal_move \ No newline at end of file diff --git a/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/CMakeLists.txt b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/CMakeLists.txt new file mode 100644 index 0000000..a6c1dad --- /dev/null +++ b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/CMakeLists.txt @@ -0,0 +1,59 @@ +cmake_minimum_required(VERSION 3.10) +project(ros2_livox_simulation) + +## Use C++14 +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +## Export compile commands for clangd +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) + +####################### +## Find dependencies ## +####################### +find_package(ament_cmake_auto REQUIRED) +find_package(rclcpp REQUIRED) +find_package(gazebo_dev REQUIRED) +find_package(gazebo_ros REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(livox_ros_driver2 REQUIRED) +find_package(Boost REQUIRED COMPONENTS chrono) +ament_auto_find_build_dependencies() + +########### +## Build ## +########### + +include_directories( + include + ${GAZEBO_INCLUDE_DIRS} +) + +link_directories(${GAZEBO_LIBRARY_DIRS}) + +ament_auto_add_library(ros2_livox SHARED + src/livox_points_plugin.cpp + src/livox_ode_multiray_shape.cpp +) + +target_link_libraries(ros2_livox + RayPlugin + GpuRayPlugin + libprotobuf.so.9 + libboost_chrono.so.1.71.0 +) + +############# +## Testing ## +############# + +############# +## Install ## +############# + +ament_auto_package( + INSTALL_TO_SHARE + scan_mode + urdf +) diff --git a/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/LICENSE b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/LICENSE new file mode 100644 index 0000000..21c92da --- /dev/null +++ b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2023 Ricardo Casimiro + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/README.md b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/README.md new file mode 100644 index 0000000..31f0bf2 --- /dev/null +++ b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/README.md @@ -0,0 +1,30 @@ +# livox_laser_simulation for RO2 +this is a ros2 port of the original repo: https://github.com/Livox-SDK/livox_laser_simulation. + +tested in ros2 foxy and humble. + +### Usage +1. clone this repo in your ros2 workspace +``` +git clone https://github.com/stm32f303ret6/livox_laser_simulation_RO2.git +``` +2. build your ros2 workspace (if there are warnings that do not allow the compilation, run the build again and you will see that the error disappears) +``` +colcon build && source install/setup.bash +``` +3. include the lidar sensor in your URDF file, for example: +``` + +``` +4. attach the sensor to your robot in the URDF (or xacro) file, for example: +``` + + + +``` +you need to specify the parent link (usually base_link) + +that's it. the example that i gave you is for mid70, but you can use mid40, mid70, mid360 and so on. + +thanks to the original repo, you can find more info in it. + diff --git a/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/include/ros2_livox/csv_reader.hpp b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/include/ros2_livox/csv_reader.hpp new file mode 100644 index 0000000..a739b4b --- /dev/null +++ b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/include/ros2_livox/csv_reader.hpp @@ -0,0 +1,59 @@ +// +// Created by lfc on 2021/3/1. +// + +#ifndef SRC_GAZEBO_CSV_READER_HPP +#define SRC_GAZEBO_CSV_READER_HPP + +#include +#include +#include +#include +#include + +class CsvReader +{ +public: + static bool ReadCsvFile(std::string file_name, std::vector> &datas) + { + std::fstream file_stream; + file_stream.open(file_name, std::ios::in); + if (file_stream.is_open()) + { + std::string header; + std::getline(file_stream, header, '\n'); + while (!file_stream.eof()) + { + std::string line_str; + std::getline(file_stream, line_str, '\n'); + std::stringstream line_stream; + line_stream << line_str; + std::vector data; + try + { + while (!line_stream.eof()) + { + std::string value; + std::getline(line_stream, value, ','); + data.push_back(std::stod(value)); + } + } + catch (...) + { + std::cerr << "cannot convert str:" << line_str << "\n"; + continue; + } + datas.push_back(data); + } + std::cerr << "data size:" << datas.size() << "\n"; + return true; + } + else + { + std::cerr << "cannot read csv file!" << file_name << "\n"; + } + return false; + } +}; + +#endif // SRC_GAZEBO_CSV_READER_HPP diff --git a/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/include/ros2_livox/livox_ode_multiray_shape.h b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/include/ros2_livox/livox_ode_multiray_shape.h new file mode 100644 index 0000000..e41ed2c --- /dev/null +++ b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/include/ros2_livox/livox_ode_multiray_shape.h @@ -0,0 +1,53 @@ +// +// Created by lfc on 2021/2/28. +// + +#ifndef SRC_GAZEBO_LIVOX_ODE_MULTIRAY_SHAPE_H +#define SRC_GAZEBO_LIVOX_ODE_MULTIRAY_SHAPE_H +#include +#include +#include +#include + +namespace gazebo{ +namespace physics{ +class GZ_PHYSICS_VISIBLE LivoxOdeMultiRayShape : public MultiRayShape{ + /// \brief Constructor. + /// \param[in] _parent Parent Collision. + public: explicit LivoxOdeMultiRayShape(CollisionPtr _parent); + + /// \brief Destructor. + public: virtual ~LivoxOdeMultiRayShape(); + + // Documentation inherited. + public: virtual void UpdateRays(); + + public: virtual void Init(); + + public: std::vector &RayShapes(){return rays;} + /// \brief Ray-intersection callback. + /// \param[in] _data Pointer to user data. + /// \param[in] _o1 First geom to check for collisions. + /// \param[in] _o2 Second geom to check for collisions. + private: static void UpdateCallback(void *_data, dGeomID _o1, + dGeomID _o2); + + /// \brief Add a ray to the collision. + /// \param[in] _start Start of a ray. + /// \param[in] _end End of a ray. + public: void AddRay(const ignition::math::Vector3d &_start, + const ignition::math::Vector3d &_end); + /// \brief Space to contain the ray space, for efficiency. + private: dSpaceID superSpaceId; + + /// \brief Ray space for collision detector. + private: dSpaceID raySpaceId; + + private: + std::vector livoxRays; +}; +} +} + + +#endif // SRC_GAZEBO_LIVOX_ODE_MULTIRAY_SHAPE_H diff --git a/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/include/ros2_livox/livox_points_plugin.h b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/include/ros2_livox/livox_points_plugin.h new file mode 100644 index 0000000..831d893 --- /dev/null +++ b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/include/ros2_livox/livox_points_plugin.h @@ -0,0 +1,121 @@ +// +// Created by lfc on 2021/2/28. +// + +#ifndef SRC_GAZEBO_LIVOX_POINTS_PLUGIN_H +#define SRC_GAZEBO_LIVOX_POINTS_PLUGIN_H + +#include +#include +#include +#include "sensor_msgs/msg/point_cloud2.hpp" +#include + +#include "livox_ode_multiray_shape.h" + +namespace gazebo +{ + struct AviaRotateInfo + { + double time; + double azimuth; + double zenith; + }; + + + class LivoxPointsPlugin : public RayPlugin + { + public: + LivoxPointsPlugin(); + + virtual ~LivoxPointsPlugin(); + + void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf); + + private: + ignition::math::Angle AngleMin() const; + + ignition::math::Angle AngleMax() const; + + double GetAngleResolution() const GAZEBO_DEPRECATED(7.0); + + double AngleResolution() const; + + double GetRangeMin() const GAZEBO_DEPRECATED(7.0); + + double RangeMin() const; + + double GetRangeMax() const GAZEBO_DEPRECATED(7.0); + + double RangeMax() const; + + double GetRangeResolution() const GAZEBO_DEPRECATED(7.0); + + double RangeResolution() const; + + int GetRayCount() const GAZEBO_DEPRECATED(7.0); + + int RayCount() const; + + int GetRangeCount() const GAZEBO_DEPRECATED(7.0); + + int RangeCount() const; + + int GetVerticalRayCount() const GAZEBO_DEPRECATED(7.0); + + int VerticalRayCount() const; + + int GetVerticalRangeCount() const GAZEBO_DEPRECATED(7.0); + + int VerticalRangeCount() const; + + ignition::math::Angle VerticalAngleMin() const; + + ignition::math::Angle VerticalAngleMax() const; + + double GetVerticalAngleResolution() const GAZEBO_DEPRECATED(7.0); + + double VerticalAngleResolution() const; + + protected: + virtual void OnNewLaserScans(); + + private: + void InitializeRays(std::vector> &points_pair, + boost::shared_ptr &ray_shape); + + void InitializeScan(msgs::LaserScan *&scan); + + void SendRosTf(const ignition::math::Pose3d &pose, const std::string &father_frame, const std::string &child_frame); + + boost::shared_ptr rayShape; + gazebo::physics::CollisionPtr laserCollision; + physics::EntityPtr parentEntity; + transport::PublisherPtr scanPub; + + sdf::ElementPtr sdfPtr; + transport::NodePtr node; + msgs::LaserScanStamped laserMsg; + gazebo::sensors::SensorPtr raySensor; + std::vector aviaInfos; + + gazebo_ros::Node::SharedPtr node_; + rclcpp::Publisher::SharedPtr cloud2_pub; + rclcpp::Publisher::SharedPtr custom_pub; + + std::string parent_name; + std::string child_name; + int64_t samplesStep = 0; + int64_t currStartIndex = 0; + int64_t maxPointSize = 1000; + int64_t downSample = 1; + + double maxDist = 400.0; + double minDist = 0.1; + }; + +} // namespace gazebo + +#endif // SRC_GAZEBO_LIVOX_POINTS_PLUGIN_H + + diff --git a/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/package.xml b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/package.xml new file mode 100644 index 0000000..9c9f323 --- /dev/null +++ b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/package.xml @@ -0,0 +1,30 @@ + + + + ros2_livox_simulation + 0.0.0 + TODO: Package description + rsc + TODO: License declaration + + ament_cmake + + rclcpp + rclcpp_components + + gazebo + gazebo_ros + sensor_msgs + tf2_ros + geometry_msgs + livox_ros_driver2 + + ament_lint_auto + ament_lint_common + ament_cmake_clang_format + + + ament_cmake + + + diff --git a/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/scan_mode/mid360.csv b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/scan_mode/mid360.csv new file mode 100644 index 0000000..536686c --- /dev/null +++ b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/scan_mode/mid360.csv @@ -0,0 +1,800001 @@ +Time/s,Azimuth/deg,Zenith/deg +1,268.99,37.838 +2,269,40.825 +3,269,43.581 +4,269,46.152 +5,267.82,37.84 +6,267.77,40.825 +7,267.72,43.58 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argv[]) { + std::vector> datas; + CsvReader::ReadCsvFile("/sros/avia.csv", datas); + return 0; +} \ No newline at end of file diff --git a/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/src/livox_ode_multiray_shape.cpp b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/src/livox_ode_multiray_shape.cpp new file mode 100644 index 0000000..72d1f41 --- /dev/null +++ b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/src/livox_ode_multiray_shape.cpp @@ -0,0 +1,253 @@ +// +// Created by lfc on 2021/2/28. +// + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "ros2_livox/livox_ode_multiray_shape.h" +#include + +using namespace gazebo; +using namespace physics; + +////////////////////////////////////////////////// +LivoxOdeMultiRayShape::LivoxOdeMultiRayShape(CollisionPtr _parent) + : MultiRayShape(_parent) +{ + this->SetName("ODE Multiray Shape"); + + // Create a space to contain the ray space + this->superSpaceId = dSimpleSpaceCreate(0); + + // Create a space to contain all the rays + this->raySpaceId = dSimpleSpaceCreate(this->superSpaceId); + + // Set collision bits + dGeomSetCategoryBits((dGeomID)this->raySpaceId, GZ_SENSOR_COLLIDE); + dGeomSetCollideBits((dGeomID)this->raySpaceId, ~GZ_SENSOR_COLLIDE); + + // These three lines may be unessecary + ODELinkPtr pLink = + boost::static_pointer_cast(this->collisionParent->GetLink()); + pLink->SetSpaceId(this->raySpaceId); + boost::static_pointer_cast(this->collisionParent)->SetSpaceId(this->raySpaceId); +} + +////////////////////////////////////////////////// +LivoxOdeMultiRayShape::~LivoxOdeMultiRayShape() +{ + dSpaceSetCleanup(this->raySpaceId, 0); + dSpaceDestroy(this->raySpaceId); + + dSpaceSetCleanup(this->superSpaceId, 0); + dSpaceDestroy(this->superSpaceId); +} + +////////////////////////////////////////////////// +void LivoxOdeMultiRayShape::UpdateRays() +{ + ODEPhysicsPtr ode = boost::dynamic_pointer_cast( + this->GetWorld()->Physics()); + + if (ode == NULL) + gzthrow("Invalid physics engine. Must use ODE."); + + // Do we need to lock the physics engine here? YES! + // especially when spawning models with sensors + { + boost::recursive_mutex::scoped_lock lock(*ode->GetPhysicsUpdateMutex()); + + // Do collision detection + dSpaceCollide2((dGeomID)(this->superSpaceId), + (dGeomID)(ode->GetSpaceId()), + this, &UpdateCallback); + } +} + +////////////////////////////////////////////////// +void LivoxOdeMultiRayShape::UpdateCallback(void *_data, dGeomID _o1, dGeomID _o2) +{ + dContactGeom contact; + LivoxOdeMultiRayShape *self = NULL; + + self = static_cast(_data); + + // Check space + if (dGeomIsSpace(_o1) || dGeomIsSpace(_o2)) + { + if (dGeomGetSpace(_o1) == self->superSpaceId || + dGeomGetSpace(_o2) == self->superSpaceId) + dSpaceCollide2(_o1, _o2, self, &UpdateCallback); + + if (dGeomGetSpace(_o1) == self->raySpaceId || + dGeomGetSpace(_o2) == self->raySpaceId) + dSpaceCollide2(_o1, _o2, self, &UpdateCallback); + } + else + { + ODECollision *collision1 = NULL; + ODECollision *collision2 = NULL; + + // Get pointers to the underlying collisions + if (dGeomGetClass(_o1) == dGeomTransformClass) + { + collision1 = static_cast( + dGeomGetData(dGeomTransformGetGeom(_o1))); + } + else + collision1 = static_cast(dGeomGetData(_o1)); + + if (dGeomGetClass(_o2) == dGeomTransformClass) + { + collision2 = + static_cast(dGeomGetData(dGeomTransformGetGeom(_o2))); + } + else + { + collision2 = static_cast(dGeomGetData(_o2)); + } + + GZ_ASSERT(collision1, "collision1 is null"); + GZ_ASSERT(collision2, "collision2 is null"); + + ODECollision *rayCollision = NULL; + ODECollision *hitCollision = NULL; + + // Figure out which one is a ray; note that this assumes + // that the ODE dRayClass is used *soley* by the RayCollision. + if (dGeomGetClass(_o1) == dRayClass) + { + rayCollision = static_cast(collision1); + hitCollision = static_cast(collision2); + dGeomRaySetParams(_o1, 0, 0); + dGeomRaySetClosestHit(_o1, 1); + } + else if (dGeomGetClass(_o2) == dRayClass) + { + GZ_ASSERT(rayCollision == NULL, "rayCollision is not null"); + rayCollision = static_cast(collision2); + hitCollision = static_cast(collision1); + dGeomRaySetParams(_o2, 0, 0); + dGeomRaySetClosestHit(_o2, 1); + } + + // Check for ray/collision intersections + if (rayCollision && hitCollision) + { + int n = dCollide(_o1, _o2, 1, &contact, sizeof(contact)); + + if (n > 0) + { + RayShapePtr shape = boost::static_pointer_cast( + rayCollision->GetShape()); + if (contact.depth < shape->GetLength()) + { + // gzerr << "LivoxOdeMultiRayShape UpdateCallback dSpaceCollide2 " + // << " depth[" << contact.depth << "]" + // << " position[" << contact.pos[0] + // << ", " << contact.pos[1] + // << ", " << contact.pos[2] + // << ", " << "]" + // << " ray[" << rayCollision->GetScopedName() << "]" + // << " pose[" << rayCollision->GetWorldPose() << "]" + // << " hit[" << hitCollision->GetScopedName() << "]" + // << " pose[" << hitCollision->GetWorldPose() << "]" + // << "\n"; + shape->SetLength(contact.depth); + shape->SetRetro(hitCollision->GetLaserRetro()); + } + } + } + } +} + +////////////////////////////////////////////////// +void LivoxOdeMultiRayShape::AddRay(const ignition::math::Vector3d &_start, + const ignition::math::Vector3d &_end) +{ + MultiRayShape::AddRay(_start, _end); + + ODECollisionPtr odeCollision(new ODECollision( + this->collisionParent->GetLink())); + odeCollision->SetName("ode_ray_collision"); + odeCollision->SetSpaceId(this->raySpaceId); + + ODERayShapePtr ray(new ODERayShape(odeCollision)); + odeCollision->SetShape(ray); + + ray->SetPoints(_start, _end); + this->rays.push_back(ray); +} +void LivoxOdeMultiRayShape::Init() +{ + ignition::math::Vector3d start, end, axis; + double yawAngle, pitchAngle; + // ignition::math::Quaternion ray; + double yDiff; + double horzMinAngle, horzMaxAngle; + int horzSamples = 1; + // double horzResolution = 1.0; + + double pDiff = 0; + int vertSamples = 1; + // double vertResolution = 1.0; + double vertMinAngle = 0; + + double minRange, maxRange; + + this->rayElem = this->sdf->GetElement("ray"); + this->scanElem = this->rayElem->GetElement("scan"); + this->horzElem = this->scanElem->GetElement("horizontal"); + this->rangeElem = this->rayElem->GetElement("range"); + + if (this->scanElem->HasElement("vertical")) + { + this->vertElem = this->scanElem->GetElement("vertical"); + vertMinAngle = this->vertElem->Get("min_angle"); + double vertMaxAngle = this->vertElem->Get("max_angle"); + vertSamples = this->vertElem->Get("samples"); + // vertResolution = this->vertElem->Get("resolution"); + pDiff = vertMaxAngle - vertMinAngle; + } + + horzMinAngle = this->horzElem->Get("min_angle"); + horzMaxAngle = this->horzElem->Get("max_angle"); + horzSamples = this->horzElem->Get("samples"); + // horzResolution = this->horzElem->Get("resolution"); + yDiff = horzMaxAngle - horzMinAngle; + + minRange = this->rangeElem->Get("min"); + maxRange = this->rangeElem->Get("max"); + + // this->offset = this->collisionParent->GetRelativePose(); + + // Create an array of ray collisions + // for (unsigned int j = 0; j < (unsigned int)vertSamples; ++j) + // { + // for (unsigned int i = 0; i < (unsigned int)horzSamples; ++i) + // { + // yawAngle = (horzSamples == 1) ? 0 : + // i * yDiff / (horzSamples - 1) + horzMinAngle; + // + // pitchAngle = (vertSamples == 1)? 0 : + // j * pDiff / (vertSamples - 1) + vertMinAngle; + // + // // since we're rotating a unit x vector, a pitch rotation will now be + // // around the negative y axis + // ray.SetFromEuler(math::Vector3(0.0, -pitchAngle, yawAngle)); + // axis = this->offset.rot * ray * math::Vector3(1.0, 0.0, 0.0); + // + // start = (axis * minRange) + this->offset.pos; + // end = (axis * maxRange) + this->offset.pos; + // + // this->AddRay(start, end); + // } + // } +} diff --git a/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/src/livox_points_plugin.cpp b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/src/livox_points_plugin.cpp new file mode 100644 index 0000000..a51ca19 --- /dev/null +++ b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/src/livox_points_plugin.cpp @@ -0,0 +1,402 @@ +#include +#include +#include // Store the latest laser scans into laserMsg +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "ros2_livox/csv_reader.hpp" +#include "ros2_livox/livox_points_plugin.h" +#include "ros2_livox/livox_ode_multiray_shape.h" + +namespace gazebo +{ + + GZ_REGISTER_SENSOR_PLUGIN(LivoxPointsPlugin) + + LivoxPointsPlugin::LivoxPointsPlugin() {} + + LivoxPointsPlugin::~LivoxPointsPlugin() {} + + void convertDataToRotateInfo(const std::vector> &datas, std::vector &avia_infos) + { + avia_infos.reserve(datas.size()); + double deg_2_rad = M_PI / 180.0; + for (auto &data : datas) + { + if (data.size() == 3) + { + avia_infos.emplace_back(); + avia_infos.back().time = data[0]; + avia_infos.back().azimuth = data[1] * deg_2_rad; + avia_infos.back().zenith = data[2] * deg_2_rad - M_PI_2; //转化成标准的右手系角度 + } else { + RCLCPP_ERROR(rclcpp::get_logger("convertDataToRotateInfo"), "data size is not 3!"); + } + } + } + + void LivoxPointsPlugin::Load(gazebo::sensors::SensorPtr _parent, sdf::ElementPtr sdf) + { + node_ = gazebo_ros::Node::Get(sdf); + + std::vector> datas; + std::string file_name = sdf->Get("csv_file_name"); + RCLCPP_INFO(rclcpp::get_logger("LivoxPointsPlugin"), "load csv file name: %s", file_name.c_str()); + if (!CsvReader::ReadCsvFile(file_name, datas)) + { + RCLCPP_INFO(rclcpp::get_logger("LivoxPointsPlugin"), "cannot get csv file! %s will return !", file_name.c_str()); + return; + } + sdfPtr = sdf; + auto rayElem = sdfPtr->GetElement("ray"); + auto scanElem = rayElem->GetElement("scan"); + auto rangeElem = rayElem->GetElement("range"); + + + raySensor = _parent; + auto sensor_pose = raySensor->Pose(); + auto curr_scan_topic = sdf->Get("topic"); + RCLCPP_INFO(rclcpp::get_logger("LivoxPointsPlugin"), "ros topic name: %s", curr_scan_topic.c_str()); + + child_name = raySensor->Name(); + parent_name = raySensor->ParentName(); + size_t delimiter_pos = parent_name.find("::"); + parent_name = parent_name.substr(delimiter_pos + 2); + + node = transport::NodePtr(new transport::Node()); + node->Init(raySensor->WorldName()); + // PointCloud2 publisher + cloud2_pub = node_->create_publisher(curr_scan_topic + "/pointcloud", 10); + // CustomMsg publisher + custom_pub = node_->create_publisher(curr_scan_topic, 10); + + scanPub = node->Advertise(curr_scan_topic+"laserscan", 50); + + aviaInfos.clear(); + convertDataToRotateInfo(datas, aviaInfos); + RCLCPP_INFO(rclcpp::get_logger("LivoxPointsPlugin"), "scan info size: %ld", aviaInfos.size()); + maxPointSize = aviaInfos.size(); + + RayPlugin::Load(_parent, sdfPtr); + laserMsg.mutable_scan()->set_frame(_parent->ParentName()); + // parentEntity = world->GetEntity(_parent->ParentName()); + parentEntity = this->world->EntityByName(_parent->ParentName()); + //SendRosTf(sensor_pose, raySensor->ParentName(), raySensor->Name()); + auto physics = world->Physics(); + laserCollision = physics->CreateCollision("multiray", _parent->ParentName()); + laserCollision->SetName("ray_sensor_collision"); + laserCollision->SetRelativePose(_parent->Pose()); + laserCollision->SetInitialRelativePose(_parent->Pose()); + rayShape.reset(new gazebo::physics::LivoxOdeMultiRayShape(laserCollision)); + laserCollision->SetShape(rayShape); + samplesStep = sdfPtr->Get("samples"); + downSample = sdfPtr->Get("downsample"); + if (downSample < 1) + { + downSample = 1; + } + RCLCPP_INFO(rclcpp::get_logger("LivoxPointsPlugin"), "sample: %ld", samplesStep); + RCLCPP_INFO(rclcpp::get_logger("LivoxPointsPlugin"), "downsample: %ld", downSample); + rayShape->RayShapes().reserve(samplesStep / downSample); + rayShape->Load(sdfPtr); + rayShape->Init(); + minDist = rangeElem->Get("min"); + maxDist = rangeElem->Get("max"); + auto offset = laserCollision->RelativePose(); + ignition::math::Vector3d start_point, end_point; + for (int j = 0; j < samplesStep; j += downSample) + { + int index = j % maxPointSize; + auto &rotate_info = aviaInfos[index]; + ignition::math::Quaterniond ray; + ray.Euler(ignition::math::Vector3d(0.0, rotate_info.zenith, rotate_info.azimuth)); + auto axis = offset.Rot() * ray * ignition::math::Vector3d(1.0, 0.0, 0.0); + start_point = minDist * axis + offset.Pos(); + end_point = maxDist * axis + offset.Pos(); + rayShape->AddRay(start_point, end_point); + } + } + + + + void LivoxPointsPlugin::OnNewLaserScans() { + if (!rayShape) { + return; // 检查是否已经初始化了 rayShape + } + + std::vector> points_pair; + InitializeRays(points_pair, rayShape); + rayShape->Update(); + + msgs::Set(laserMsg.mutable_time(), world->SimTime()); + msgs::LaserScan *scan = laserMsg.mutable_scan(); + InitializeScan(scan); + + // 创建自定义消息 pp_livox，用于发布 Livox CustomMsg 类型消息 + livox_ros_driver2::msg::CustomMsg pp_livox; + pp_livox.header.stamp = node_->get_clock()->now(); + pp_livox.header.frame_id = raySensor->Name(); + int count = 0; + boost::chrono::high_resolution_clock::time_point start_time = boost::chrono::high_resolution_clock::now(); + + // 用于 PointCloud2 类型消息发布 + sensor_msgs::msg::PointCloud2 cloud2; + cloud2.header.stamp = node_->get_clock()->now(); + cloud2.header.frame_id = raySensor->Name(); + + sensor_msgs::PointCloud2Modifier modifier(cloud2); + modifier.setPointCloud2FieldsByString(2, "xyz", "rgb"); + modifier.resize(points_pair.size()); + + sensor_msgs::PointCloud2Iterator out_x(cloud2, "x"); + sensor_msgs::PointCloud2Iterator out_y(cloud2, "y"); + sensor_msgs::PointCloud2Iterator out_z(cloud2, "z"); + + // 遍历射线扫描点对 + for (const auto &pair : points_pair) { + auto range = rayShape->GetRange(pair.first); + auto intensity = rayShape->GetRetro(pair.first); + + // 处理超出范围的数据 + if (range <= RangeMin() || range >= RangeMax()) { + range = 0; + } + + // 计算点云数据 + auto rotate_info = pair.second; + ignition::math::Quaterniond ray; + ray.Euler(ignition::math::Vector3d(0.0, rotate_info.zenith, rotate_info.azimuth)); + auto axis = ray * ignition::math::Vector3d(1.0, 0.0, 0.0); + auto point = range * axis; + + // 填充 CustomMsg 点云消息 + livox_ros_driver2::msg::CustomPoint p; + p.x = point.X(); + p.y = point.Y(); + p.z = point.Z(); + p.reflectivity = intensity; + + // 填充 PointCloud2 点云消息 + *out_x = point.X(); + *out_y = point.Y(); + *out_z = point.Z(); + + ++out_x; + ++out_y; + ++out_z; + + // 计算时间戳偏移 + boost::chrono::high_resolution_clock::time_point end_time = boost::chrono::high_resolution_clock::now(); + boost::chrono::nanoseconds elapsed_time = boost::chrono::duration_cast(end_time - start_time); + p.offset_time = elapsed_time.count(); + + // 将点云数据添加到 CustomMsg 消息中 + pp_livox.points.push_back(p); + count++; + } + + if (scanPub && scanPub->HasConnections()) { + scanPub->Publish(laserMsg); + } + + // 发布 CustomMsg 消息 + pp_livox.point_num = count; + custom_pub->publish(pp_livox); + + // 发布 PointCloud2 类型消息 + cloud2_pub->publish(cloud2); + } + + + void LivoxPointsPlugin::InitializeRays(std::vector> &points_pair, + boost::shared_ptr &ray_shape) + { + auto &rays = ray_shape->RayShapes(); + ignition::math::Vector3d start_point, end_point; + ignition::math::Quaterniond ray; + auto offset = laserCollision->RelativePose(); + int64_t end_index = currStartIndex + samplesStep; + long unsigned int ray_index = 0; + auto ray_size = rays.size(); + points_pair.reserve(rays.size()); + for (int k = currStartIndex; k < end_index; k += downSample) + { + auto index = k % maxPointSize; + auto &rotate_info = aviaInfos[index]; + ray.Euler(ignition::math::Vector3d(0.0, rotate_info.zenith, rotate_info.azimuth)); + auto axis = offset.Rot() * ray * ignition::math::Vector3d(1.0, 0.0, 0.0); + start_point = minDist * axis + offset.Pos(); + end_point = maxDist * axis + offset.Pos(); + if (ray_index < ray_size) + { + rays[ray_index]->SetPoints(start_point, end_point); + points_pair.emplace_back(ray_index, rotate_info); + } + ray_index++; + } + currStartIndex += samplesStep; + } + + void LivoxPointsPlugin::InitializeScan(msgs::LaserScan *&scan) + { + // Store the latest laser scans into laserMsg + msgs::Set(scan->mutable_world_pose(), raySensor->Pose() + parentEntity->WorldPose()); + scan->set_angle_min(AngleMin().Radian()); + scan->set_angle_max(AngleMax().Radian()); + scan->set_angle_step(AngleResolution()); + scan->set_count(RangeCount()); + + scan->set_vertical_angle_min(VerticalAngleMin().Radian()); + scan->set_vertical_angle_max(VerticalAngleMax().Radian()); + scan->set_vertical_angle_step(VerticalAngleResolution()); + scan->set_vertical_count(VerticalRangeCount()); + + scan->set_range_min(RangeMin()); + scan->set_range_max(RangeMax()); + + scan->clear_ranges(); + scan->clear_intensities(); + + unsigned int rangeCount = RangeCount(); + unsigned int verticalRangeCount = VerticalRangeCount(); + + for (unsigned int j = 0; j < verticalRangeCount; ++j) + { + for (unsigned int i = 0; i < rangeCount; ++i) + { + scan->add_ranges(0); + scan->add_intensities(0); + } + } + } + + ignition::math::Angle LivoxPointsPlugin::AngleMin() const + { + if (rayShape) + return rayShape->MinAngle(); + else + return -1; + } + + ignition::math::Angle LivoxPointsPlugin::AngleMax() const + { + if (rayShape) + { + return ignition::math::Angle(rayShape->MaxAngle().Radian()); + } + else + return -1; + } + + double LivoxPointsPlugin::GetRangeMin() const { return RangeMin(); } + + double LivoxPointsPlugin::RangeMin() const + { + if (rayShape) + return rayShape->GetMinRange(); + else + return -1; + } + + double LivoxPointsPlugin::GetRangeMax() const { return RangeMax(); } + + double LivoxPointsPlugin::RangeMax() const + { + if (rayShape) + return rayShape->GetMaxRange(); + else + return -1; + } + + double LivoxPointsPlugin::GetAngleResolution() const { return AngleResolution(); } + + double LivoxPointsPlugin::AngleResolution() const { return (AngleMax() - AngleMin()).Radian() / (RangeCount() - 1); } + + double LivoxPointsPlugin::GetRangeResolution() const { return RangeResolution(); } + + double LivoxPointsPlugin::RangeResolution() const + { + if (rayShape) + return rayShape->GetResRange(); + else + return -1; + } + + int LivoxPointsPlugin::GetRayCount() const { return RayCount(); } + + int LivoxPointsPlugin::RayCount() const + { + if (rayShape) + return rayShape->GetSampleCount(); + else + return -1; + } + + int LivoxPointsPlugin::GetRangeCount() const { return RangeCount(); } + + int LivoxPointsPlugin::RangeCount() const + { + if (rayShape) + return rayShape->GetSampleCount() * rayShape->GetScanResolution(); + else + return -1; + } + + int LivoxPointsPlugin::GetVerticalRayCount() const { return VerticalRayCount(); } + + int LivoxPointsPlugin::VerticalRayCount() const + { + if (rayShape) + return rayShape->GetVerticalSampleCount(); + else + return -1; + } + + int LivoxPointsPlugin::GetVerticalRangeCount() const { return VerticalRangeCount(); } + + int LivoxPointsPlugin::VerticalRangeCount() const + { + if (rayShape) + return rayShape->GetVerticalSampleCount() * rayShape->GetVerticalScanResolution(); + else + return -1; + } + + ignition::math::Angle LivoxPointsPlugin::VerticalAngleMin() const + { + if (rayShape) + { + return ignition::math::Angle(rayShape->VerticalMinAngle().Radian()); + } + else + return -1; + } + + ignition::math::Angle LivoxPointsPlugin::VerticalAngleMax() const + { + if (rayShape) + { + return ignition::math::Angle(rayShape->VerticalMaxAngle().Radian()); + } + else + return -1; + } + + double LivoxPointsPlugin::GetVerticalAngleResolution() const { return VerticalAngleResolution(); } + + double LivoxPointsPlugin::VerticalAngleResolution() const + { + return (VerticalAngleMax() - VerticalAngleMin()).Radian() / (VerticalRangeCount() - 1); + } + + +} \ No newline at end of file diff --git a/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/urdf/mid360.xacro b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/urdf/mid360.xacro new file mode 100644 index 0000000..c51f897 --- /dev/null +++ b/src/rm_nav/rm_simulation/livox_laser_simulation_RO2/urdf/mid360.xacro @@ -0,0 +1,85 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 0 + true + 10 + + + + + 100 + 1 + ${0} + ${2*M_PI} + + + 360 + 1 + ${-7.22/180*M_PI} + ${55.22/180*M_PI} + + + + ${laser_min_range} + ${laser_max_range} + ${resolution} + + + gaussian + ${noise_mean} + ${noise_stddev} + + + false + ${samples} + 1 + $(find ros2_livox_simulation)/scan_mode/mid360.csv + ${topic} + + + + + + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/CMakeLists.txt b/src/rm_nav/rm_simulation/pb_rm_simulation/CMakeLists.txt new file mode 100644 index 0000000..2dbf792 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/CMakeLists.txt @@ -0,0 +1,61 @@ +cmake_minimum_required(VERSION 3.10) +project(pb_rm_simulation) + +## Use C++14 +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +## By adding -Wall and -Werror, the compiler does not ignore warnings anymore, +## enforcing cleaner code. +add_definitions(-Wall -Werror) + +if(CMAKE_EXPORT_COMPILE_COMMANDS) + set(CMAKE_EXPORT_COMPILE_COMMANDS ${CMAKE_EXPORT_COMPILE_COMMANDS}) +endif() + +####################### +## Find dependencies ## +####################### + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +########### +## Build ## +########### + +# ament_auto_add_library(${PROJECT_NAME} SHARED +# src/rm_serial_driver.cpp +# src/crc.cpp +# ) + +# rclcpp_components_register_node(${PROJECT_NAME} +# PLUGIN rm_serial_driver::RMSerialDriver +# EXECUTABLE ${PROJECT_NAME}_node +# ) + +############# +## Testing ## +############# + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + list(APPEND AMENT_LINT_AUTO_EXCLUDE + ament_cmake_copyright + ament_cmake_uncrustify + ) + ament_lint_auto_find_test_dependencies() +endif() + +############# +## Install ## +############# + +ament_auto_package( + INSTALL_TO_SHARE + launch + urdf + meshes + world + rviz +) diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/launch/rm_simulation.launch.py b/src/rm_nav/rm_simulation/pb_rm_simulation/launch/rm_simulation.launch.py new file mode 100644 index 0000000..09df099 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/launch/rm_simulation.launch.py @@ -0,0 +1,169 @@ +#!/usr/bin/env python3 + +import os + +from ament_index_python.packages import get_package_share_directory, get_package_share_path + +from launch import LaunchDescription +from launch.substitutions import LaunchConfiguration, Command +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, GroupAction +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch_ros.actions import Node +from launch.conditions import LaunchConfigurationEquals +from launch.conditions import IfCondition +from launch.actions.append_environment_variable import AppendEnvironmentVariable + +# Enum for world types +class WorldType: + RMUC = 'RMUC' + RMUL = 'RMUL' + +def get_world_config(world_type): + world_configs = { + WorldType.RMUC: { + 'x': '6.35', + 'y': '7.6', + 'z': '0.2', + 'yaw': '0.0', + 'world_path': 'RMUC2024_world/RMUC2024_world.world' + }, + WorldType.RMUL: { + 'x': '4.3', + 'y': '3.35', + 'z': '1.16', + 'yaw': '0.0', + 'world_path': 'RMUL2024_world/RMUL2024_world.world' + # 'world_path': 'RMUL2024_world/RMUL2024_world_dynamic_obstacles.world' + } + } + return world_configs.get(world_type, None) + +def generate_launch_description(): + # Get the launch directory + bringup_dir = get_package_share_directory('pb_rm_simulation') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + # Specify xacro path + default_robot_description = Command(['xacro ', os.path.join( + get_package_share_directory('pb_rm_simulation'), 'urdf', 'simulation_waking_robot.xacro')]) + + # Create the launch configuration variables + use_sim_time = LaunchConfiguration('use_sim_time') + use_rviz = LaunchConfiguration('rviz', default='false') + robot_description = LaunchConfiguration('robot_description') + + # Set Gazebo plugin path + append_enviroment = AppendEnvironmentVariable( + 'GAZEBO_PLUGIN_PATH', + os.path.join(os.path.join(get_package_share_directory('pb_rm_simulation'), 'meshes', 'obstacles', 'obstacle_plugin', 'lib')) + ) + + declare_use_sim_time_cmd = DeclareLaunchArgument( + 'use_sim_time', + default_value='True', + description='Use simulation (Gazebo) clock if true' + ) + + declare_world_cmd = DeclareLaunchArgument( + 'world', + default_value=WorldType.RMUC, + description='Choose or ' + ) + + declare_rviz_config_file_cmd = DeclareLaunchArgument( + 'rviz_config_file', + default_value=os.path.join(bringup_dir, 'rviz', 'rviz2.rviz'), + description='Full path to the RVIZ config file to use' + ) + + declare_robot_description_cmd = DeclareLaunchArgument( + 'robot_description', + default_value=default_robot_description, + description='Robot description' + ) + + # Specify the actions + gazebo_client_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')), + ) + + start_joint_state_publisher_cmd = Node( + package='joint_state_publisher', + executable='joint_state_publisher', + name='joint_state_publisher', + parameters=[{ + 'use_sim_time': use_sim_time, + 'robot_description': robot_description + }], + output='screen' + ) + + start_robot_state_publisher_cmd = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + parameters=[{ + 'use_sim_time': use_sim_time, + 'robot_description': robot_description + }], + output='screen' + ) + + start_rviz_cmd = Node( + condition=IfCondition(use_rviz), + package='rviz2', + namespace='', + executable='rviz2', + arguments=['-d' + os.path.join(bringup_dir, 'rviz', 'rviz2.rviz')] + ) + + def create_gazebo_launch_group(world_type): + world_config = get_world_config(world_type) + if world_config is None: + return None + + return GroupAction( + condition=LaunchConfigurationEquals('world', world_type), + actions=[ + Node( + package='gazebo_ros', + executable='spawn_entity.py', + arguments=[ + '-entity', 'robot', + '-topic', 'robot_description', + '-x', world_config['x'], + '-y', world_config['y'], + '-z', world_config['z'], + '-Y', world_config['yaw'] + ], + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')), + launch_arguments={'world': os.path.join(bringup_dir, 'world', world_config['world_path'])}.items(), + ) + ] + ) + + bringup_RMUC_cmd_group = create_gazebo_launch_group(WorldType.RMUC) + bringup_RMUL_cmd_group = create_gazebo_launch_group(WorldType.RMUL) + + # Create the launch description and populate + ld = LaunchDescription() + + # Set environment variables + ld.add_action(append_enviroment) + + ld.add_action(declare_use_sim_time_cmd) + ld.add_action(declare_world_cmd) + ld.add_action(declare_rviz_config_file_cmd) + ld.add_action(declare_robot_description_cmd) + ld.add_action(gazebo_client_launch) + ld.add_action(start_joint_state_publisher_cmd) + ld.add_action(start_robot_state_publisher_cmd) + ld.add_action(bringup_RMUL_cmd_group) # type: ignore + ld.add_action(bringup_RMUC_cmd_group) # type: ignore + + # Uncomment this line if you want to start RViz + ld.add_action(start_rviz_cmd) + + return ld diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/RMUC2024_world/meshes/RMUC_2024.stl b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/RMUC2024_world/meshes/RMUC_2024.stl new file mode 100644 index 0000000..4f54050 Binary files /dev/null and b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/RMUC2024_world/meshes/RMUC_2024.stl differ diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/RMUC2024_world/model.config b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/RMUC2024_world/model.config new file mode 100644 index 0000000..ce3505e --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/RMUC2024_world/model.config @@ -0,0 +1,17 @@ + + + + RMUC2024_world + 1.0 + model.sdf + + + Lihan Chen + lihanchen2004@163.com + + + + RoboMaster University Championship 2024 world + + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/RMUC2024_world/model.sdf b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/RMUC2024_world/model.sdf new file mode 100644 index 0000000..daac0ab --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/RMUC2024_world/model.sdf @@ -0,0 +1,34 @@ + + + + true + + + 0 0 0 0 0 0 + 10402000 + + 3970000000 + 20876000 + 613230000 + 9033200000 + -269580000 + 5839000000 + + + + + + model://RMUC2024_world/meshes/RMUC_2024.stl + + + + + + + model://RMUC2024_world/meshes/RMUC2024_world + + + + + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/RMUL2024_world/meshes/RMUL_2024.stl b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/RMUL2024_world/meshes/RMUL_2024.stl new file mode 100644 index 0000000..1ee425d Binary files /dev/null and b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/RMUL2024_world/meshes/RMUL_2024.stl differ diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/mid360.stl b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/mid360.stl new file mode 100644 index 0000000..5c7fdb7 Binary files /dev/null and b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/mid360.stl differ diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle1/model.config b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle1/model.config new file mode 100644 index 0000000..d873282 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle1/model.config @@ -0,0 +1,15 @@ + + + obstacle1 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle1/model.sdf b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle1/model.sdf new file mode 100644 index 0000000..a59a914 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle1/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.3 + 0.50 + + + + + + + + 0.3 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle1 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle10/model.config b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle10/model.config new file mode 100644 index 0000000..091726a --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle10/model.config @@ -0,0 +1,15 @@ + + + obstacle4 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle10/model.sdf b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle10/model.sdf new file mode 100644 index 0000000..775d66f --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle10/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.3 + 0.50 + + + + + + + + 0.3 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle4 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle11/model.config b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle11/model.config new file mode 100644 index 0000000..82e7849 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle11/model.config @@ -0,0 +1,15 @@ + + + obstacle5 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle11/model.sdf b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle11/model.sdf new file mode 100644 index 0000000..771d775 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle11/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.16 + 0.50 + + + + + + + + 0.16 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle5 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle12/model.config b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle12/model.config new file mode 100644 index 0000000..aca3ff5 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle12/model.config @@ -0,0 +1,15 @@ + + + obstacle6 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle12/model.sdf b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle12/model.sdf new file mode 100644 index 0000000..ae4d932 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle12/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.16 + 0.50 + + + + + + + + 0.16 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle6 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle2/model.config b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle2/model.config new file mode 100644 index 0000000..dfd8c6b --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle2/model.config @@ -0,0 +1,15 @@ + + + obstacle2 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle2/model.sdf b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle2/model.sdf new file mode 100644 index 0000000..b9901f0 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle2/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.3 + 0.50 + + + + + + + + 0.3 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle2 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle3/model.config b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle3/model.config new file mode 100644 index 0000000..4003109 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle3/model.config @@ -0,0 +1,15 @@ + + + obstacle3 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle3/model.sdf b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle3/model.sdf new file mode 100644 index 0000000..b5fdcdb --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle3/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.3 + 0.50 + + + + + + + + 0.3 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle3 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle4/model.config b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle4/model.config new file mode 100644 index 0000000..091726a --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle4/model.config @@ -0,0 +1,15 @@ + + + obstacle4 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle4/model.sdf b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle4/model.sdf new file mode 100644 index 0000000..775d66f --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle4/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.3 + 0.50 + + + + + + + + 0.3 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle4 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle5/model.config b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle5/model.config new file mode 100644 index 0000000..82e7849 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle5/model.config @@ -0,0 +1,15 @@ + + + obstacle5 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle5/model.sdf b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle5/model.sdf new file mode 100644 index 0000000..71d9170 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle5/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.3 + 0.50 + + + + + + + + 0.3 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle5 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle6/model.config b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle6/model.config new file mode 100644 index 0000000..aca3ff5 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle6/model.config @@ -0,0 +1,15 @@ + + + obstacle6 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle6/model.sdf b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle6/model.sdf new file mode 100644 index 0000000..8d0180d --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle6/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.3 + 0.50 + + + + + + + + 0.3 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle6 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle7/model.config b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle7/model.config new file mode 100644 index 0000000..d873282 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle7/model.config @@ -0,0 +1,15 @@ + + + obstacle1 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle7/model.sdf b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle7/model.sdf new file mode 100644 index 0000000..a59a914 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle7/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.3 + 0.50 + + + + + + + + 0.3 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle1 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle8/model.config b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle8/model.config new file mode 100644 index 0000000..dfd8c6b --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle8/model.config @@ -0,0 +1,15 @@ + + + obstacle2 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle8/model.sdf b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle8/model.sdf new file mode 100644 index 0000000..b9901f0 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle8/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.3 + 0.50 + + + + + + + + 0.3 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle2 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle9/model.config b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle9/model.config new file mode 100644 index 0000000..4003109 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle9/model.config @@ -0,0 +1,15 @@ + + + obstacle3 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle9/model.sdf b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle9/model.sdf new file mode 100644 index 0000000..b5fdcdb --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle9/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.3 + 0.50 + + + + + + + + 0.3 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle3 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/CMakeLists.txt b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/CMakeLists.txt new file mode 100644 index 0000000..2f48193 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/CMakeLists.txt @@ -0,0 +1,57 @@ +################################################################################ +# CMake +################################################################################ +cmake_minimum_required(VERSION 2.8 FATAL_ERROR) + +################################################################################ +# Packages +################################################################################ +find_package(gazebo REQUIRED) + +################################################################################ +# Build +################################################################################ +link_directories(${GAZEBO_LIBRARY_DIRS}) + +include_directories(${GAZEBO_INCLUDE_DIRS}) + +list(APPEND CMAKE_CXX_FLAGS "${GAZEBO_CXX_FLAGS}") + +add_library(obstacle1 SHARED obstacle1.cc) +target_link_libraries(obstacle1 ${GAZEBO_LIBRARIES}) + +add_library(obstacle2 SHARED obstacle2.cc) +target_link_libraries(obstacle2 ${GAZEBO_LIBRARIES}) + +add_library(obstacle3 SHARED obstacle3.cc) +target_link_libraries(obstacle3 ${GAZEBO_LIBRARIES}) + +add_library(obstacle4 SHARED obstacle4.cc) +target_link_libraries(obstacle4 ${GAZEBO_LIBRARIES}) + +add_library(obstacle5 SHARED obstacle5.cc) +target_link_libraries(obstacle5 ${GAZEBO_LIBRARIES}) + +add_library(obstacle6 SHARED obstacle6.cc) +target_link_libraries(obstacle6 ${GAZEBO_LIBRARIES}) + +add_library(obstacle7 SHARED obstacle7.cc) +target_link_libraries(obstacle7 ${GAZEBO_LIBRARIES}) + +add_library(obstacle8 SHARED obstacle8.cc) +target_link_libraries(obstacle8 ${GAZEBO_LIBRARIES}) + +add_library(obstacle9 SHARED obstacle9.cc) +target_link_libraries(obstacle9 ${GAZEBO_LIBRARIES}) + +add_library(obstacle10 SHARED obstacle10.cc) +target_link_libraries(obstacle10 ${GAZEBO_LIBRARIES}) + +add_library(obstacle11 SHARED obstacle11.cc) +target_link_libraries(obstacle11 ${GAZEBO_LIBRARIES}) + +add_library(obstacle12 SHARED obstacle12.cc) +target_link_libraries(obstacle12 ${GAZEBO_LIBRARIES}) + +add_library(obstacles SHARED obstacles.cc) +target_link_libraries(obstacles ${GAZEBO_LIBRARIES}) \ No newline at end of file diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle1.so b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle1.so new file mode 100755 index 0000000..71fa737 Binary files /dev/null and b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle1.so differ diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle10.so b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle10.so new file mode 100755 index 0000000..f559665 Binary files /dev/null and b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle10.so differ diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle11.so b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle11.so new file mode 100755 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b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacles.so differ diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle1.cc b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle1.cc new file mode 100644 index 0000000..7957af0 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle1.cc @@ -0,0 +1,93 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// 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. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + + +namespace gazebo +{ +class Obstacle1: public ModelPlugin +{ +public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_1", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move1", 160.0, true)); + + gazebo::common::PoseKeyFrame * key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(50); + key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(70); + key->Translation(ignition::math::Vector3d(-3.7, -3.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(90); + key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(130); + key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(140); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(160); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + +// Pointer to the model + +private: + physics::ModelPtr model; + +// Pointer to the update event connection + +private: + event::ConnectionPtr updateConnection; +}; +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(Obstacle1) +} // namespace gazebo diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle10.cc b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle10.cc new file mode 100644 index 0000000..44d2ec5 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle10.cc @@ -0,0 +1,100 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// 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. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle10 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move10", 140.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(0.0, -0.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(35); + key->Translation(ignition::math::Vector3d(3.0, -0.8, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(3.5, -1.3, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(60); + key->Translation(ignition::math::Vector3d(4.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(80); + key->Translation(ignition::math::Vector3d(3.5, -2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(110); + key->Translation(ignition::math::Vector3d(2.0, -2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(120); + key->Translation(ignition::math::Vector3d(1.3, -1.1, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(130); + key->Translation(ignition::math::Vector3d(0, -1.1, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(140); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle10) +} // namespace gazebo diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle11.cc b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle11.cc new file mode 100644 index 0000000..9856957 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle11.cc @@ -0,0 +1,96 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// 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. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle11 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move11", 110.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(20); + key->Translation(ignition::math::Vector3d(1.0, 2.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(35); + key->Translation(ignition::math::Vector3d(-1.0, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(55); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(65); + key->Translation(ignition::math::Vector3d(1.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(75); + key->Translation(ignition::math::Vector3d(2.0, 1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(85); + key->Translation(ignition::math::Vector3d(1.0, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(95); + key->Translation(ignition::math::Vector3d(0.0, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(110); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle11) +} // namespace gazebo diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle12.cc b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle12.cc new file mode 100644 index 0000000..7c0840a --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle12.cc @@ -0,0 +1,92 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// 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. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle12 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move12", 120.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(15); + key->Translation(ignition::math::Vector3d(1.0, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(1.5, -4.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(50); + key->Translation(ignition::math::Vector3d(1.0, -4.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(80); + key->Translation(ignition::math::Vector3d(-1.5, -2.8, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(100); + key->Translation(ignition::math::Vector3d(-1.5, -0.8, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(110); + key->Translation(ignition::math::Vector3d(-1.0, -0.7, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(120); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle12) +} // namespace gazebo diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle13.cc b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle13.cc new file mode 100644 index 0000000..8c54c29 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle13.cc @@ -0,0 +1,76 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// 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. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle12 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move12", 345.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(15); + key->Translation(ignition::math::Vector3d(0.0, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(30); + key->Translation(ignition::math::Vector3d(-1.0, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(300); + key->Translation(ignition::math::Vector3d(-2.0, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle12) +} // namespace gazebo diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle2.cc b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle2.cc new file mode 100644 index 0000000..f9f1657 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle2.cc @@ -0,0 +1,108 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// 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. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle2 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move2", 140.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(0.7, 0.2, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(2.5, 3.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(55); + key->Translation(ignition::math::Vector3d(0.3, 3.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(85); + key->Translation(ignition::math::Vector3d(3.5, 1.8, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(100); + key->Translation(ignition::math::Vector3d(3.5, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(110); + key->Translation(ignition::math::Vector3d(2.0, 0.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(115); + key->Translation(ignition::math::Vector3d(1.5, 1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(120); + key->Translation(ignition::math::Vector3d(1.0, 0.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(125); + key->Translation(ignition::math::Vector3d(0.5, 0.1, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(130); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(140); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle2) +} // namespace gazebo diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle3.cc b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle3.cc new file mode 100644 index 0000000..a0a1c72 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle3.cc @@ -0,0 +1,96 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// 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. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle3 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move3", 165.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(-1.0, 0.2, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(-2.0, 1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(55); + key->Translation(ignition::math::Vector3d(-3.5, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(85); + key->Translation(ignition::math::Vector3d(-2.5, 1.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(110); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(130); + key->Translation(ignition::math::Vector3d(-1.0, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(145); + key->Translation(ignition::math::Vector3d(-2.0, 1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(165); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle3) +} // namespace gazebo diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle4.cc b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle4.cc new file mode 100644 index 0000000..1b3a98a --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle4.cc @@ -0,0 +1,100 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// 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. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle4 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move4", 170.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(0.0, -3.2, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(30); + key->Translation(ignition::math::Vector3d(2.0, -2.7, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(60); + key->Translation(ignition::math::Vector3d(0.0, -3.2, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(80); + key->Translation(ignition::math::Vector3d(2.0, -2.7, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(110); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(130); + key->Translation(ignition::math::Vector3d(0.0, -3.2, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(150); + key->Translation(ignition::math::Vector3d(2.0, -2.7, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(170); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle4) +} // namespace gazebo diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle5.cc b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle5.cc new file mode 100644 index 0000000..a1e812c --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle5.cc @@ -0,0 +1,104 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// 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. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle5 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move5", 205.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(0.7, 1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(2.5, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(55); + key->Translation(ignition::math::Vector3d(0.0, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(85); + key->Translation(ignition::math::Vector3d(0.0, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(110); + key->Translation(ignition::math::Vector3d(2.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(125); + key->Translation(ignition::math::Vector3d(4.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(145); + key->Translation(ignition::math::Vector3d(3.0, -2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(170); + key->Translation(ignition::math::Vector3d(2.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(185); + key->Translation(ignition::math::Vector3d(2.0, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(205); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle5) +} // namespace gazebo diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle6.cc b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle6.cc new file mode 100644 index 0000000..be41fcb --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle6.cc @@ -0,0 +1,96 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// 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. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle6 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move6", 170.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(-1.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(-1.0, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(55); + key->Translation(ignition::math::Vector3d(-1.5, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(85); + key->Translation(ignition::math::Vector3d(0.0, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(120); + key->Translation(ignition::math::Vector3d(-4.0, -1.8, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(130); + key->Translation(ignition::math::Vector3d(-3.0, -1.8, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(145); + key->Translation(ignition::math::Vector3d(-2.5, 1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(170); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle6) +} // namespace gazebo diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle7.cc b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle7.cc new file mode 100644 index 0000000..8ebbf82 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle7.cc @@ -0,0 +1,96 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// 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. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle7 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_1", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move7", 195.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(15); + key->Translation(ignition::math::Vector3d(-0.5, -0.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(25); + key->Translation(ignition::math::Vector3d(-1.5, -0.3, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(55); + key->Translation(ignition::math::Vector3d(-4.5, 0.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(85); + key->Translation(ignition::math::Vector3d(-4.0, -2.7, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(135); + key->Translation(ignition::math::Vector3d(0, -4.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(175); + key->Translation(ignition::math::Vector3d(-1.0, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(195); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // key = anim->CreateKeyFrame(170); + // key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + // key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle7) +} // namespace gazebo diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle8.cc b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle8.cc new file mode 100644 index 0000000..18e5038 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle8.cc @@ -0,0 +1,96 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// 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. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle8 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move8", 150.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(1.0, 1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(30); + key->Translation(ignition::math::Vector3d(3.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(4.0, 1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(70); + key->Translation(ignition::math::Vector3d(2.5, 4.2, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(100); + key->Translation(ignition::math::Vector3d(-0.5, 4.2, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(130); + key->Translation(ignition::math::Vector3d(-0.5, 1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(140); + key->Translation(ignition::math::Vector3d(0.5, 0.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(150); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle8) +} // namespace gazebo diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle9.cc b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle9.cc new file mode 100644 index 0000000..e25ded1 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle9.cc @@ -0,0 +1,92 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// 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. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle9 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move9", 120.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(20); + key->Translation(ignition::math::Vector3d(-2.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(-3.5, 1.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(55); + key->Translation(ignition::math::Vector3d(-3.5, 3.3, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(90); + key->Translation(ignition::math::Vector3d(-0.6, 3.3, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(105); + key->Translation(ignition::math::Vector3d(-0.6, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(110); + key->Translation(ignition::math::Vector3d(0.0, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(120); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle9) +} // namespace gazebo diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacles.cc b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacles.cc new file mode 100644 index 0000000..115966d --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacles.cc @@ -0,0 +1,75 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// 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. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +#define PI 3.141592 + + +namespace gazebo +{ +class Obstacles: public ModelPlugin +{ +public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move", + // make it last 40 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move", 40.0, true)); + + gazebo::common::PoseKeyFrame * key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(20); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, PI)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 2 * PI)); + + // set the animation + _parent->SetAnimation(anim); + } + +// Pointer to the model + +private: + physics::ModelPtr model; + +// Pointer to the update event connection + +private: + event::ConnectionPtr updateConnection; +}; +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(Obstacles) +} // namespace gazebo diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/package.xml b/src/rm_nav/rm_simulation/pb_rm_simulation/package.xml new file mode 100644 index 0000000..5f3857b --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/package.xml @@ -0,0 +1,29 @@ + + + + pb_rm_simulation + 1.0.0 + + Gazebo simulation package for the RMUC + + Lihan Chen + TODO + Lihan Chen + + ament_cmake + gazebo_ros_pkgs + + xacro + joint_state_publisher + robot_state_publisher + + + ament_cmake + + + + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/rviz/rviz2.rviz b/src/rm_nav/rm_simulation/pb_rm_simulation/rviz/rviz2.rviz new file mode 100644 index 0000000..e1f8fac --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/rviz/rviz2.rviz @@ -0,0 +1,325 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /PointCloud21 + - /TF1 + - /RobotModel1 + - /RobotModel1/Description Topic1 + Splitter Ratio: 0.5 + Tree Height: 883 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera_sensor/image_raw + Value: true + - Class: rviz_default_plugins/Camera + Enabled: false + Far Plane Distance: 100 + Image Rendering: background and overlay + Name: Camera + Overlay Alpha: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera_sensor/image_raw + Value: false + Visibility: + Grid: true + Image: true + PointCloud2: true + RobotModel: true + TF: true + Value: true + Zoom Factor: 1 + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 9.62706470489502 + Min Value: -0.0572148859500885 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /livox/lidar/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_footprint: + Value: true + base_link: + Value: true + camera_link: + Value: true + imu_link: + Value: true + livox: + Value: true + odom: + Value: true + wheel_1: + Value: true + wheel_2: + Value: true + wheel_3: + Value: true + wheel_4: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base_footprint: + base_link: + camera_link: + {} + imu_link: + {} + livox: + {} + wheel_1: + {} + wheel_2: + {} + wheel_3: + {} + wheel_4: + {} + odom: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + livox: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 33.390586853027344 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 4.494869709014893 + Y: 1.1036027669906616 + Z: 3.0751402378082275 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.592147707939148 + Target Frame: + Value: Orbit (rviz) + Yaw: 2.4887309074401855 + Saved: ~ +Window Geometry: + Camera: + collapsed: false + Displays: + collapsed: false + Height: 1376 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 2486 + X: 74 + Y: 27 diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/urdf/simulation_waking_robot.xacro b/src/rm_nav/rm_simulation/pb_rm_simulation/urdf/simulation_waking_robot.xacro new file mode 100644 index 0000000..39cc066 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/urdf/simulation_waking_robot.xacro @@ -0,0 +1,259 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.5 + 0.5 + + + + + + + + + + + + + + + + + 0.5 + 0.5 + + + + + + + + + + + + + + + + + 0.5 + 0.5 + + + + + + + + + + + + + + + + + 0.5 + 0.5 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Orange + + + Gazebo/Red + + + Gazebo/Black + + + Gazebo/Red + + + Gazebo/Black + + + Gazebo/BuildingFrame + + + Gazebo/LightBlueLaser + + + 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a/src/rm_nav/rm_simulation/pb_rm_simulation/world/RMUL2024_world/model.config b/src/rm_nav/rm_simulation/pb_rm_simulation/world/RMUL2024_world/model.config new file mode 100644 index 0000000..c03b056 --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/world/RMUL2024_world/model.config @@ -0,0 +1,13 @@ + + + RMUL2024_world + 1.0 + + + + Lihan Chen + lihanchen2004@163.com + + + RoboMaster University League 2024 world + diff --git a/src/rm_nav/rm_simulation/pb_rm_simulation/world/RMUL2024_world/model.sdf b/src/rm_nav/rm_simulation/pb_rm_simulation/world/RMUL2024_world/model.sdf new file mode 100644 index 0000000..098cdce --- /dev/null +++ b/src/rm_nav/rm_simulation/pb_rm_simulation/world/RMUL2024_world/model.sdf @@ -0,0 +1,107 @@ + + + + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 0 + + 0 0 -3e-06 0 -0 0 + 1 + 0 + 0 + 0 + + 0 0 0 -1.5705 0 0 + + + model://RMUL2024_world/meshes/RMUL_2024.stl + 0.001 0.001 0.001 + + + + 1 + + + __default__ + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 -1.5705 0 0 + + + model://RMUL2024_world/meshes/RMUL_2024.stl + 0.001 0.001 0.001 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + 1 + 1 + + diff --git a/src/rm_vision/rm_auto_aim/LICENSE b/src/rm_vision/rm_auto_aim/LICENSE new file mode 100644 index 0000000..d1e647e --- /dev/null +++ b/src/rm_vision/rm_auto_aim/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2022 ChenJun + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/src/rm_vision/rm_auto_aim/README.md b/src/rm_vision/rm_auto_aim/README.md new file mode 100644 index 0000000..caa6a80 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/README.md @@ -0,0 +1,61 @@ +# rm_auto_aim + +## Overview + +RoboMaster 装甲板自瞄算法模块 + +rm_vision + +该项目为 [rm_vision](https://github.com/chenjunnn/rm_vision) 的子模块 + +若有帮助请Star这个项目，感谢~ + +### License + +The source code is released under a [MIT license](rm_auto_aim/LICENSE). + +[![License: MIT](https://img.shields.io/badge/License-MIT-blue.svg)](https://opensource.org/licenses/MIT) + +Author: Chen Jun + +运行环境：Ubuntu 22.04 / ROS2 Humble (未在其他环境下测试) + +![Build Status](https://github.com/chenjunnn/rm_auto_aim/actions/workflows/ros_ci.yml/badge.svg) + +## Building from Source + +### Building + +在 Ubuntu 22.04 环境下安装 [ROS2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) + +创建 ROS 工作空间后 clone 项目，使用 rosdep 安装依赖后编译代码 + + cd ros_ws/src + git clone https://gitlab.com/rm_vision/rm_auto_aim.git + cd .. + rosdep install --from-paths src --ignore-src -r -y + colcon build --symlink-install --packages-up-to auto_aim_bringup + +### Testing + +Run the tests with + + colcon test --packages-up-to auto_aim_bringup + +## Packages + +- [armor_detector](armor_detector) + + 订阅相机参数及图像流进行装甲板的识别并解算三维位置，输出识别到的装甲板在输入frame下的三维位置 (一般是以相机光心为原点的相机坐标系) + +- [armor_tracker](armor_tracker) + + 订阅识别节点发布的装甲板三维位置及机器人的坐标转换信息，将装甲板三维位置变换到指定惯性系（一般是以云台中心为原点，IMU 上电时的 Yaw 朝向为 X 轴的惯性系）下，然后将装甲板目标送入跟踪器中，输出跟踪机器人在指定惯性系下的状态 + +- auto_aim_interfaces + + 定义了识别节点和处理节点的接口以及定义了用于 Debug 的信息 + +- auto_aim_bringup + + 包含启动识别节点和处理节点的默认参数文件及 launch 文件 diff --git a/src/rm_vision/rm_auto_aim/armor_detector/CMakeLists.txt b/src/rm_vision/rm_auto_aim/armor_detector/CMakeLists.txt new file mode 100644 index 0000000..f1cd143 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_detector/CMakeLists.txt @@ -0,0 +1,68 @@ +cmake_minimum_required(VERSION 3.10) +project(armor_detector) + +## Use C++14 +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +## By adding -Wall and -Werror, the compiler does not ignore warnings anymore, +## enforcing cleaner code. +add_definitions(-Wall -Werror) + +## Export compile commands for clangd +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) + +####################### +## Find dependencies ## +####################### + +find_package(ament_cmake_auto REQUIRED) +find_package(OpenCV REQUIRED) +ament_auto_find_build_dependencies() + +########### +## Build ## +########### + +ament_auto_add_library(${PROJECT_NAME} SHARED + DIRECTORY src +) + +target_include_directories(${PROJECT_NAME} PUBLIC ${OpenCV_INCLUDE_DIRS}) +target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS}) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN rm_auto_aim::ArmorDetectorNode + EXECUTABLE armor_detector_node +) + +############# +## Testing ## +############# + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + list(APPEND AMENT_LINT_AUTO_EXCLUDE + ament_cmake_copyright + ament_cmake_uncrustify + ament_cmake_cpplint + ) + ament_lint_auto_find_test_dependencies() + + find_package(ament_cmake_gtest) + ament_add_gtest(test_node_startup test/test_node_startup.cpp) + target_link_libraries(test_node_startup ${PROJECT_NAME}) + + ament_add_gtest(test_number_cls test/test_number_cls.cpp) + target_link_libraries(test_number_cls ${PROJECT_NAME}) + +endif() + +############# +## Install ## +############# + +ament_auto_package( + INSTALL_TO_SHARE + model +) diff --git a/src/rm_vision/rm_auto_aim/armor_detector/README.md b/src/rm_vision/rm_auto_aim/armor_detector/README.md new file mode 100644 index 0000000..d5d49db --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_detector/README.md @@ -0,0 +1,104 @@ +# armor_detector + +- [DetectorNode](#basedetectornode) + - [Detector](#detector) + - [NumberClassifier](#numberclassifier) + - [PnPSolver](#pnpsolver) + +## 识别节点 + +订阅相机参数及图像流进行装甲板的识别并解算三维位置，输出识别到的装甲板在输入frame下的三维位置 (一般是以相机光心为原点的相机坐标系) + +### DetectorNode +装甲板识别节点 + +包含[Detector](#detector) +包含[PnPSolver](#pnpsolver) + +订阅： +- 相机参数 `/camera_info` +- 彩色图像 `/image_raw` + +发布： +- 识别目标 `/detector/armors` + +静态参数： +- 筛选灯条的参数 `light` + - 长宽比范围 `min/max_ratio` + - 最大倾斜角度 `max_angle` +- 筛选灯条配对结果的参数 `armor` + - 两灯条的最小长度之比（短边/长边）`min_light_ratio ` + - 装甲板两灯条中心的距离范围（大装甲板）`min/max_large_center_distance` + - 装甲板两灯条中心的距离范围（小装甲板）`min/max_small_center_distance` + - 装甲板的最大倾斜角度 `max_angle` + +动态参数： +- 是否发布 debug 信息 `debug` +- 识别目标颜色 `detect_color` +- 二值化的最小阈值 `binary_thres` +- 数字分类器 `classifier` + - 置信度阈值 `threshold` + +## Detector +装甲板识别器 + +### preprocessImage +预处理 + +| ![](docs/raw.png) | ![](docs/hsv_bin.png) | ![](docs/gray_bin.png) | +| :---------------: | :-------------------: | :--------------------: | +| 原图 | 通过颜色二值化 | 通过灰度二值化 | + +由于一般工业相机的动态范围不够大，导致若要能够清晰分辨装甲板的数字，得到的相机图像中灯条中心就会过曝，灯条中心的像素点的值往往都是 R=B。根据颜色信息来进行二值化效果不佳，因此此处选择了直接通过灰度图进行二值化，将灯条的颜色判断放到后续处理中。 + +### findLights +寻找灯条 + +通过 findContours 得到轮廓，再通过 minAreaRect 获得最小外接矩形，对其进行长宽比和倾斜角度的判断，可以高效的筛除形状不满足的亮斑。 + +判断灯条颜色这里采用了对轮廓内的的R/B值求和，判断两和的的大小的方法，若 `sum_r > sum_b` 则认为是红色灯条，反之则认为是蓝色灯条。 + +| ![](docs/red.png) | ![](docs/blue.png) | +| :---------------: | :----------------: | +| 提取出的红色灯条 | 提取出的蓝色灯条 | + +### matchLights +配对灯条 + +根据 `detect_color` 选择对应颜色的灯条进行两两配对，首先筛除掉两条灯条中间包含另一个灯条的情况，然后根据两灯条的长度之比、两灯条中心的距离、配对出装甲板的倾斜角度来筛选掉条件不满足的结果，得到形状符合装甲板特征的灯条配对。 + +## NumberClassifier +数字分类器 + +### extractNumbers +提取数字 + +| ![](docs/num_raw.png) | ![](docs/num_warp.png) | ![](docs/num_roi.png) | ![](docs/num_bin.png) | +| :-------------------: | :--------------------: | :-------------------: | :-------------------: | +| 原图 | 透视变换 | 取ROI | 二值化 | + +将每条灯条上下的角点拉伸到装甲板的上下边缘作为待变换点，进行透视变换，再对变换后的图像取ROI。考虑到数字图案实质上就是黑色背景+白色图案，所以此处使用了大津法进行二值化。 + +### Classify +分类 + +由于上一步对于数字的提取效果已经非常好，数字图案的特征非常清晰明显，装甲板的远近、旋转都不会使图案产生过多畸变，且图案像素点少，所以我们使用多层感知机（MLP）进行分类。 + +网络结构中定义了两个隐藏层和一个分类层，将二值化后的数字展平成 20x28=560 维的输入，送入网络进行分类。 + +网络结构： + +![](docs/model.svg) + + + + + +## PnPSolver +PnP解算器 + +[Perspective-n-Point (PnP) pose computation](https://docs.opencv.org/4.x/d5/d1f/calib3d_solvePnP.html) + +PnP解算器将 `cv::solvePnP()` 封装，接口中传入 `Armor` 类型的数据即可得到 `geometry_msgs::msg::Point` 类型的三维坐标。 + +考虑到装甲板的四个点在一个平面上，在PnP解算方法上我们选择了 `cv::SOLVEPNP_IPPE` (Method is based on the paper of T. Collins and A. Bartoli. ["Infinitesimal Plane-Based Pose Estimation"](https://link.springer.com/article/10.1007/s11263-014-0725-5). 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+const int BLUE = 1; + +enum class ArmorType { SMALL, LARGE, INVALID }; +const std::string ARMOR_TYPE_STR[3] = {"small", "large", "invalid"}; + +struct Light : public cv::RotatedRect +{ + Light() = default; + explicit Light(cv::RotatedRect box) : cv::RotatedRect(box) + { + cv::Point2f p[4]; + box.points(p); + std::sort(p, p + 4, [](const cv::Point2f & a, const cv::Point2f & b) { return a.y < b.y; }); + top = (p[0] + p[1]) / 2; + bottom = (p[2] + p[3]) / 2; + + length = cv::norm(top - bottom); + width = cv::norm(p[0] - p[1]); + + tilt_angle = std::atan2(std::abs(top.x - bottom.x), std::abs(top.y - bottom.y)); + tilt_angle = tilt_angle / CV_PI * 180; + } + + int color; + cv::Point2f top, bottom; + double length; + double width; + float tilt_angle; +}; + +struct Armor +{ + Armor() = default; + Armor(const Light & l1, const Light & l2) + { + if (l1.center.x < l2.center.x) { + left_light = l1, right_light = l2; + } else { + left_light = l2, right_light = l1; + } + center = (left_light.center + right_light.center) / 2; + } + + // Light pairs part + Light left_light, right_light; + cv::Point2f center; + ArmorType type; + + // Number part + cv::Mat number_img; + std::string number; + float confidence; + std::string classfication_result; +}; + +} // namespace rm_auto_aim + +#endif // ARMOR_DETECTOR__ARMOR_HPP_ diff --git a/src/rm_vision/rm_auto_aim/armor_detector/include/armor_detector/detector.hpp b/src/rm_vision/rm_auto_aim/armor_detector/include/armor_detector/detector.hpp new file mode 100644 index 0000000..5e3cd74 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_detector/include/armor_detector/detector.hpp @@ -0,0 +1,83 @@ +// Copyright 2022 Chen Jun +// Licensed under the MIT License. + +#ifndef ARMOR_DETECTOR__DETECTOR_HPP_ +#define ARMOR_DETECTOR__DETECTOR_HPP_ + +// OpenCV +#include +#include + +// STD +#include +#include +#include + +#include "armor_detector/armor.hpp" +#include "armor_detector/number_classifier.hpp" +#include "auto_aim_interfaces/msg/debug_armors.hpp" +#include "auto_aim_interfaces/msg/debug_lights.hpp" + +namespace rm_auto_aim +{ +class Detector +{ +public: + struct LightParams + { + // width / height + double min_ratio; + double max_ratio; + // vertical angle + double max_angle; + }; + + struct ArmorParams + { + double min_light_ratio; + // light pairs distance + double min_small_center_distance; + double max_small_center_distance; + double min_large_center_distance; + double max_large_center_distance; + // horizontal angle + double max_angle; + }; + + Detector(const int & bin_thres, const int & color, const LightParams & l, const ArmorParams & a); + + std::vector detect(const cv::Mat & input); + + cv::Mat preprocessImage(const cv::Mat & input); + std::vector findLights(const cv::Mat & rbg_img, const cv::Mat & binary_img); + std::vector matchLights(const std::vector & lights); + + // For debug usage + cv::Mat getAllNumbersImage(); + void drawResults(cv::Mat & img); + + int binary_thres; + int detect_color; + LightParams l; + ArmorParams a; + + std::unique_ptr classifier; + + // Debug msgs + cv::Mat binary_img; + auto_aim_interfaces::msg::DebugLights debug_lights; + auto_aim_interfaces::msg::DebugArmors debug_armors; + +private: + bool isLight(const Light & possible_light); + bool containLight( + const Light & light_1, const Light & light_2, const std::vector & lights); + ArmorType isArmor(const Light & light_1, const Light & light_2); + + std::vector lights_; + std::vector armors_; +}; + +} // namespace rm_auto_aim + +#endif // ARMOR_DETECTOR__DETECTOR_HPP_ diff --git a/src/rm_vision/rm_auto_aim/armor_detector/include/armor_detector/detector_node.hpp b/src/rm_vision/rm_auto_aim/armor_detector/include/armor_detector/detector_node.hpp new file mode 100644 index 0000000..0afb400 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_detector/include/armor_detector/detector_node.hpp @@ -0,0 +1,86 @@ +// Copyright 2022 Chen Jun +// Licensed under the MIT License. + +#ifndef ARMOR_DETECTOR__DETECTOR_NODE_HPP_ +#define ARMOR_DETECTOR__DETECTOR_NODE_HPP_ + +// ROS +#include +#include +#include +#include +#include +#include +#include +#include + +// STD +#include +#include +#include +#include + +#include "armor_detector/detector.hpp" +#include "armor_detector/number_classifier.hpp" +#include "armor_detector/pnp_solver.hpp" +#include "auto_aim_interfaces/msg/armors.hpp" + +namespace rm_auto_aim +{ + +class ArmorDetectorNode : public rclcpp::Node +{ +public: + ArmorDetectorNode(const rclcpp::NodeOptions & options); + +private: + void imageCallback(const sensor_msgs::msg::Image::ConstSharedPtr img_msg); + + std::unique_ptr initDetector(); + std::vector detectArmors(const sensor_msgs::msg::Image::ConstSharedPtr & img_msg); + + void createDebugPublishers(); + void destroyDebugPublishers(); + + void publishMarkers(); + + // Armor Detector + std::unique_ptr detector_; + + // Detected armors publisher + auto_aim_interfaces::msg::Armors armors_msg_; + rclcpp::Publisher::SharedPtr armors_pub_; + + // Visualization marker publisher + visualization_msgs::msg::Marker armor_marker_; + visualization_msgs::msg::Marker text_marker_; + visualization_msgs::msg::MarkerArray marker_array_; + rclcpp::Publisher::SharedPtr marker_pub_; + + // Camera info part + rclcpp::Subscription::SharedPtr cam_info_sub_; + cv::Point2f cam_center_; + std::shared_ptr cam_info_; + std::unique_ptr pnp_solver_; + + // Image subscrpition + rclcpp::Subscription::SharedPtr img_sub_; + + // Debug information + bool debug_; + std::shared_ptr debug_param_sub_; + std::shared_ptr debug_cb_handle_; + rclcpp::Publisher::SharedPtr lights_data_pub_; + rclcpp::Publisher::SharedPtr armors_data_pub_; + image_transport::Publisher binary_img_pub_; + image_transport::Publisher number_img_pub_; + image_transport::Publisher result_img_pub_; + + // 添加以下成员变量 + std::chrono::milliseconds processing_interval_; + rclcpp::Time last_processing_time_; +}; + +} // namespace rm_auto_aim + +#endif // ARMOR_DETECTOR__DETECTOR_NODE_HPP_ \ No newline at end of file diff --git a/src/rm_vision/rm_auto_aim/armor_detector/include/armor_detector/number_classifier.hpp b/src/rm_vision/rm_auto_aim/armor_detector/include/armor_detector/number_classifier.hpp new file mode 100644 index 0000000..7a68799 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_detector/include/armor_detector/number_classifier.hpp @@ -0,0 +1,40 @@ +// Copyright 2022 Chen Jun + +#ifndef ARMOR_DETECTOR__NUMBER_CLASSIFIER_HPP_ +#define ARMOR_DETECTOR__NUMBER_CLASSIFIER_HPP_ + +// OpenCV +#include + +// STL +#include +#include +#include +#include +#include + +#include "armor_detector/armor.hpp" + +namespace rm_auto_aim +{ +class NumberClassifier +{ +public: + NumberClassifier( + const std::string & model_path, const std::string & label_path, const double threshold, + const std::vector & ignore_classes = {}); + + void extractNumbers(const cv::Mat & src, std::vector & armors); + + void classify(std::vector & armors); + + double threshold; + +private: + cv::dnn::Net net_; + std::vector class_names_; + std::vector ignore_classes_; +}; +} // namespace rm_auto_aim + +#endif // ARMOR_DETECTOR__NUMBER_CLASSIFIER_HPP_ diff --git a/src/rm_vision/rm_auto_aim/armor_detector/include/armor_detector/pnp_solver.hpp b/src/rm_vision/rm_auto_aim/armor_detector/include/armor_detector/pnp_solver.hpp new file mode 100644 index 0000000..e0005ae --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_detector/include/armor_detector/pnp_solver.hpp @@ -0,0 +1,48 @@ +// Copyright 2022 Chen Jun +// Licensed under the MIT License. + +#ifndef ARMOR_DETECTOR__PNP_SOLVER_HPP_ +#define ARMOR_DETECTOR__PNP_SOLVER_HPP_ + +#include +#include + +// STD +#include +#include + +#include "armor_detector/armor.hpp" + +namespace rm_auto_aim +{ +class PnPSolver +{ +public: + PnPSolver( + const std::array & camera_matrix, + const std::vector & distortion_coefficients); + + // Get 3d position + bool solvePnP(const Armor & armor, cv::Mat & rvec, cv::Mat & tvec); + + // Calculate the distance between armor center and image center + float calculateDistanceToCenter(const cv::Point2f & image_point); + +private: + cv::Mat camera_matrix_; + cv::Mat dist_coeffs_; + + // Unit: mm + static constexpr float SMALL_ARMOR_WIDTH = 135; + static constexpr float SMALL_ARMOR_HEIGHT = 55; + static constexpr float LARGE_ARMOR_WIDTH = 225; + static constexpr float LARGE_ARMOR_HEIGHT = 55; + + // Four vertices of armor in 3d + std::vector small_armor_points_; + std::vector large_armor_points_; +}; + +} // namespace rm_auto_aim + +#endif // ARMOR_DETECTOR__PNP_SOLVER_HPP_ diff --git a/src/rm_vision/rm_auto_aim/armor_detector/model/label.txt b/src/rm_vision/rm_auto_aim/armor_detector/model/label.txt new file mode 100644 index 0000000..64bf0fd --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_detector/model/label.txt @@ -0,0 +1,9 @@ +1 +2 +3 +4 +5 +outpost +guard +base +negative \ No newline at end of file diff --git a/src/rm_vision/rm_auto_aim/armor_detector/model/mlp.onnx b/src/rm_vision/rm_auto_aim/armor_detector/model/mlp.onnx new file mode 100644 index 0000000..2089380 Binary files /dev/null and b/src/rm_vision/rm_auto_aim/armor_detector/model/mlp.onnx differ diff --git a/src/rm_vision/rm_auto_aim/armor_detector/package.xml b/src/rm_vision/rm_auto_aim/armor_detector/package.xml new file mode 100644 index 0000000..94f0a09 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_detector/package.xml @@ -0,0 +1,37 @@ + + + + armor_detector + 0.1.0 + A template for ROS packages. + Chen Jun + BSD + https://github.com/chenjunnn/rm_auto_aim + https://github.com/chenjunnn/rm_auto_aim/issues + Chen Jun + + + ament_cmake + + + rclcpp + rclcpp_components + sensor_msgs + geometry_msgs + visualization_msgs + message_filters + cv_bridge + image_transport + image_transport_plugins + auto_aim_interfaces + vision_opencv + tf2_geometry_msgs + + ament_lint_auto + ament_lint_common + ament_cmake_clang_format + + + ament_cmake + + diff --git a/src/rm_vision/rm_auto_aim/armor_detector/src/detector.cpp b/src/rm_vision/rm_auto_aim/armor_detector/src/detector.cpp new file mode 100644 index 0000000..18887eb --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_detector/src/detector.cpp @@ -0,0 +1,245 @@ +// Copyright (c) 2022 ChenJun +// Licensed under the MIT License. + +// OpenCV +#include +#include +#include +#include +#include + +// STD +#include +#include +#include + +#include "armor_detector/detector.hpp" +#include "auto_aim_interfaces/msg/debug_armor.hpp" +#include "auto_aim_interfaces/msg/debug_light.hpp" + +namespace rm_auto_aim +{ +Detector::Detector( + const int & bin_thres, const int & color, const LightParams & l, const ArmorParams & a) +: binary_thres(bin_thres), detect_color(color), l(l), a(a) +{ +} + +std::vector Detector::detect(const cv::Mat & input) +{ + binary_img = preprocessImage(input); + lights_ = findLights(input, binary_img); + armors_ = matchLights(lights_); + + if (!armors_.empty()) { + classifier->extractNumbers(input, armors_); + classifier->classify(armors_); + } + + return armors_; +} + +cv::Mat Detector::preprocessImage(const cv::Mat & rgb_img) +{ + cv::Mat gray_img; + cv::cvtColor(rgb_img, gray_img, cv::COLOR_RGB2GRAY); + + cv::Mat binary_img; + cv::threshold(gray_img, binary_img, binary_thres, 255, cv::THRESH_BINARY); + + return binary_img; +} + +std::vector Detector::findLights(const cv::Mat & rbg_img, const cv::Mat & binary_img) +{ + using std::vector; + vector> contours; + vector hierarchy; + cv::findContours(binary_img, contours, hierarchy, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE); + + vector lights; + this->debug_lights.data.clear(); + + for (const auto & contour : contours) { + if (contour.size() < 5) continue; + + auto r_rect = cv::minAreaRect(contour); + auto light = Light(r_rect); + + if (isLight(light)) { + auto rect = light.boundingRect(); + if ( // Avoid assertion failed + 0 <= rect.x && 0 <= rect.width && rect.x + rect.width <= rbg_img.cols && 0 <= rect.y && + 0 <= rect.height && rect.y + rect.height <= rbg_img.rows) { + int sum_r = 0, sum_b = 0; + auto roi = rbg_img(rect); + // Iterate through the ROI + for (int i = 0; i < roi.rows; i++) { + for (int j = 0; j < roi.cols; j++) { + if (cv::pointPolygonTest(contour, cv::Point2f(j + rect.x, i + rect.y), false) >= 0) { + // if point is inside contour + sum_r += roi.at(i, j)[0]; + sum_b += roi.at(i, j)[2]; + } + } + } + // Sum of red pixels > sum of blue pixels ? + light.color = sum_r > sum_b ? RED : BLUE; + lights.emplace_back(light); + } + } + } + + return lights; +} + +bool Detector::isLight(const Light & light) +{ + // The ratio of light (short side / long side) + float ratio = light.width / light.length; + bool ratio_ok = l.min_ratio < ratio && ratio < l.max_ratio; + + bool angle_ok = light.tilt_angle < l.max_angle; + + bool is_light = ratio_ok && angle_ok; + + // Fill in debug information + auto_aim_interfaces::msg::DebugLight light_data; + light_data.center_x = light.center.x; + light_data.ratio = ratio; + light_data.angle = light.tilt_angle; + light_data.is_light = is_light; + this->debug_lights.data.emplace_back(light_data); + + return is_light; +} + +std::vector Detector::matchLights(const std::vector & lights) +{ + std::vector armors; + this->debug_armors.data.clear(); + + // Loop all the pairing of lights + for (auto light_1 = lights.begin(); light_1 != lights.end(); light_1++) { + for (auto light_2 = light_1 + 1; light_2 != lights.end(); light_2++) { + if (light_1->color != detect_color || light_2->color != detect_color) continue; + + if (containLight(*light_1, *light_2, lights)) { + continue; + } + + auto type = isArmor(*light_1, *light_2); + if (type != ArmorType::INVALID) { + auto armor = Armor(*light_1, *light_2); + armor.type = type; + armors.emplace_back(armor); + } + } + } + + return armors; +} + +// Check if there is another light in the boundingRect formed by the 2 lights +bool Detector::containLight( + const Light & light_1, const Light & light_2, const std::vector & lights) +{ + auto points = std::vector{light_1.top, light_1.bottom, light_2.top, light_2.bottom}; + auto bounding_rect = cv::boundingRect(points); + + for (const auto & test_light : lights) { + if (test_light.center == light_1.center || test_light.center == light_2.center) continue; + + if ( + bounding_rect.contains(test_light.top) || bounding_rect.contains(test_light.bottom) || + bounding_rect.contains(test_light.center)) { + return true; + } + } + + return false; +} + +ArmorType Detector::isArmor(const Light & light_1, const Light & light_2) +{ + // Ratio of the length of 2 lights (short side / long side) + float light_length_ratio = light_1.length < light_2.length ? light_1.length / light_2.length + : light_2.length / light_1.length; + bool light_ratio_ok = light_length_ratio > a.min_light_ratio; + + // Distance between the center of 2 lights (unit : light length) + float avg_light_length = (light_1.length + light_2.length) / 2; + float center_distance = cv::norm(light_1.center - light_2.center) / avg_light_length; + bool center_distance_ok = (a.min_small_center_distance <= center_distance && + center_distance < a.max_small_center_distance) || + (a.min_large_center_distance <= center_distance && + center_distance < a.max_large_center_distance); + + // Angle of light center connection + cv::Point2f diff = light_1.center - light_2.center; + float angle = std::abs(std::atan(diff.y / diff.x)) / CV_PI * 180; + bool angle_ok = angle < a.max_angle; + + bool is_armor = light_ratio_ok && center_distance_ok && angle_ok; + + // Judge armor type + ArmorType type; + if (is_armor) { + type = center_distance > a.min_large_center_distance ? ArmorType::LARGE : ArmorType::SMALL; + } else { + type = ArmorType::INVALID; + } + + // Fill in debug information + auto_aim_interfaces::msg::DebugArmor armor_data; + armor_data.type = ARMOR_TYPE_STR[static_cast(type)]; + armor_data.center_x = (light_1.center.x + light_2.center.x) / 2; + armor_data.light_ratio = light_length_ratio; + armor_data.center_distance = center_distance; + armor_data.angle = angle; + this->debug_armors.data.emplace_back(armor_data); + + return type; +} + +cv::Mat Detector::getAllNumbersImage() +{ + if (armors_.empty()) { + return cv::Mat(cv::Size(20, 28), CV_8UC1); + } else { + std::vector number_imgs; + number_imgs.reserve(armors_.size()); + for (auto & armor : armors_) { + number_imgs.emplace_back(armor.number_img); + } + cv::Mat all_num_img; + cv::vconcat(number_imgs, all_num_img); + return all_num_img; + } +} + +void Detector::drawResults(cv::Mat & img) +{ + // Draw Lights + for (const auto & light : lights_) { + cv::circle(img, light.top, 3, cv::Scalar(255, 255, 255), 1); + cv::circle(img, light.bottom, 3, cv::Scalar(255, 255, 255), 1); + auto line_color = light.color == RED ? cv::Scalar(255, 255, 0) : cv::Scalar(255, 0, 255); + cv::line(img, light.top, light.bottom, line_color, 1); + } + + // Draw armors + for (const auto & armor : armors_) { + cv::line(img, armor.left_light.top, armor.right_light.bottom, cv::Scalar(0, 255, 0), 2); + cv::line(img, armor.left_light.bottom, armor.right_light.top, cv::Scalar(0, 255, 0), 2); + } + + // Show numbers and confidence + for (const auto & armor : armors_) { + cv::putText( + img, armor.classfication_result, armor.left_light.top, cv::FONT_HERSHEY_SIMPLEX, 0.8, + cv::Scalar(0, 255, 255), 2); + } +} + +} // namespace rm_auto_aim diff --git a/src/rm_vision/rm_auto_aim/armor_detector/src/detector_node.cpp b/src/rm_vision/rm_auto_aim/armor_detector/src/detector_node.cpp new file mode 100644 index 0000000..68c4f6a --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_detector/src/detector_node.cpp @@ -0,0 +1,325 @@ +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +// STD +#include +#include +#include +#include +#include + +#include "armor_detector/armor.hpp" +#include "armor_detector/detector_node.hpp" + +namespace rm_auto_aim +{ + ArmorDetectorNode::ArmorDetectorNode(const rclcpp::NodeOptions & options) + : Node("armor_detector", options), processing_interval_(std::chrono::milliseconds(100)), last_processing_time_(this->now()) + { + RCLCPP_INFO(this->get_logger(), "Starting DetectorNode!"); + + // Detector + detector_ = initDetector(); + + armors_pub_ = this->create_publisher( + "detector/armors", rclcpp::SensorDataQoS()); + + // Visualization Marker Publisher + armor_marker_.ns = "armors"; + armor_marker_.action = visualization_msgs::msg::Marker::ADD; + armor_marker_.type = visualization_msgs::msg::Marker::CUBE; + armor_marker_.scale.x = 0.05; + armor_marker_.scale.z = 0.125; + armor_marker_.color.a = 1.0; + armor_marker_.color.g = 0.5; + armor_marker_.color.b = 1.0; + armor_marker_.lifetime = rclcpp::Duration::from_seconds(0.1); + + text_marker_.ns = "classification"; + text_marker_.action = visualization_msgs::msg::Marker::ADD; + text_marker_.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING; + text_marker_.scale.z = 0.1; + text_marker_.color.a = 1.0; + text_marker_.color.r = 1.0; + text_marker_.color.g = 1.0; + text_marker_.color.b = 1.0; + text_marker_.lifetime = rclcpp::Duration::from_seconds(0.1); + + marker_pub_ = this->create_publisher( + "detector/marker", 10); + + // Debug Publishers + debug_ = this->declare_parameter("debug", false); + debug_ = true; + if (debug_) { + createDebugPublishers(); + } + + + // Debug param change monitor + debug_param_sub_ = std::make_shared(this); + debug_cb_handle_ = + debug_param_sub_->add_parameter_callback("debug", [this](const rclcpp::Parameter & p) { + debug_ = p.as_bool(); + debug_ ? createDebugPublishers() : destroyDebugPublishers(); + }); + + // 订阅相机信息 —— 主题名不带前缀，由 remapping 来控制 + cam_info_sub_ = this->create_subscription( + "camera_info", rclcpp::SensorDataQoS(), + [this](sensor_msgs::msg::CameraInfo::ConstSharedPtr camera_info) { + cam_center_ = cv::Point2f(camera_info->k[2], camera_info->k[5]); + cam_info_ = std::make_shared(*camera_info); + pnp_solver_ = std::make_unique(camera_info->k, camera_info->d); + cam_info_sub_.reset(); + }); + + // 订阅图像消息 —— 主题名不带前缀 + img_sub_ = this->create_subscription( + "image_raw", rclcpp::SensorDataQoS(), + std::bind(&ArmorDetectorNode::imageCallback, this, std::placeholders::_1)); +} + +void ArmorDetectorNode::imageCallback(const sensor_msgs::msg::Image::ConstSharedPtr img_msg) +{ + auto now = this->now(); + if ((now - last_processing_time_) < processing_interval_) { + return; + } + last_processing_time_ = now; + + auto armors = detectArmors(img_msg); + + if (!armors.empty()) { + armors_msg_.header = armor_marker_.header = text_marker_.header = img_msg->header; + armors_msg_.armors.clear(); + marker_array_.markers.clear(); + armor_marker_.id = 0; + text_marker_.id = 0; + + auto_aim_interfaces::msg::Armor armor_msg; + for (const auto & armor : armors) { + cv::Mat rvec, tvec; + bool success = pnp_solver_->solvePnP(armor, rvec, tvec); + if (success) { + // Fill basic info + armor_msg.type = ARMOR_TYPE_STR[static_cast(armor.type)]; + armor_msg.number = armor.number; + + // Fill pose + armor_msg.pose.position.x = tvec.at(0); + armor_msg.pose.position.y = tvec.at(1); + armor_msg.pose.position.z = tvec.at(2); + // rvec to 3x3 rotation matrix + cv::Mat rotation_matrix; + cv::Rodrigues(rvec, rotation_matrix); + // rotation matrix to quaternion + tf2::Matrix3x3 tf2_rotation_matrix( + rotation_matrix.at(0, 0), rotation_matrix.at(0, 1), + rotation_matrix.at(0, 2), rotation_matrix.at(1, 0), + rotation_matrix.at(1, 1), rotation_matrix.at(1, 2), + rotation_matrix.at(2, 0), rotation_matrix.at(2, 1), + rotation_matrix.at(2, 2)); + tf2::Quaternion tf2_q; + tf2_rotation_matrix.getRotation(tf2_q); + armor_msg.pose.orientation = tf2::toMsg(tf2_q); + + // Fill the distance to image center + armor_msg.distance_to_image_center = pnp_solver_->calculateDistanceToCenter(armor.center); + + // Fill the markers + armor_marker_.id++; + armor_marker_.scale.y = armor.type == ArmorType::SMALL ? 0.135 : 0.23; + armor_marker_.pose = armor_msg.pose; + text_marker_.id++; + text_marker_.pose.position = armor_msg.pose.position; + text_marker_.pose.position.y -= 0.1; + text_marker_.text = armor.classfication_result; + armors_msg_.armors.emplace_back(armor_msg); + marker_array_.markers.emplace_back(armor_marker_); + marker_array_.markers.emplace_back(text_marker_); + } else { + RCLCPP_WARN(this->get_logger(), "PnP failed!"); + } + } + + // Publishing detected armors + armors_pub_->publish(armors_msg_); + + // Publishing marker + publishMarkers(); + + // 如果识别到目标，恢复正常频率 + processing_interval_ = std::chrono::milliseconds(25); + } else { + // 如果没有识别到目标，降低频率 + processing_interval_ = std::chrono::milliseconds(80); + // 发布空的目标 + armors_msg_.header = img_msg->header; + armors_msg_.armors.clear(); + armors_pub_->publish(armors_msg_); + + + + } +} + +std::unique_ptr ArmorDetectorNode::initDetector() +{ + rcl_interfaces::msg::ParameterDescriptor param_desc; + param_desc.integer_range.resize(1); + param_desc.integer_range[0].step = 1; + param_desc.integer_range[0].from_value = 0; + param_desc.integer_range[0].to_value = 255; + int binary_thres = declare_parameter("binary_thres", 160, param_desc); + + param_desc.description = "0-RED, 1-BLUE"; + param_desc.integer_range[0].from_value = 0; + param_desc.integer_range[0].to_value = 1; + auto detect_color = declare_parameter("detect_color", RED, param_desc); + // auto detect_color = declare_parameter("detect_color", BLUE, param_desc); + + //修改默认为蓝色 + // auto detect_color = declare_parameter("detect_color", BLUE, param_desc); + // auto detect_color = BLUE; + //强制修改为红色 + // auto detect_color = declare_parameter("detect_color", RED, param_desc); + + + Detector::LightParams l_params = { + .min_ratio = declare_parameter("light.min_ratio", 0.1), + .max_ratio = declare_parameter("light.max_ratio", 0.4), + .max_angle = declare_parameter("light.max_angle", 40.0)}; + + Detector::ArmorParams a_params = { + .min_light_ratio = declare_parameter("armor.min_light_ratio", 0.7), + .min_small_center_distance = declare_parameter("armor.min_small_center_distance", 0.8), + .max_small_center_distance = declare_parameter("armor.max_small_center_distance", 3.2), + .min_large_center_distance = declare_parameter("armor.min_large_center_distance", 3.2), + .max_large_center_distance = declare_parameter("armor.max_large_center_distance", 5.5), + .max_angle = declare_parameter("armor.max_angle", 35.0)}; + + auto detector = std::make_unique(binary_thres, detect_color, l_params, a_params); + + // Init classifier + auto pkg_path = ament_index_cpp::get_package_share_directory("armor_detector"); + auto model_path = pkg_path + "/model/mlp.onnx"; + auto label_path = pkg_path + "/model/label.txt"; + double threshold = this->declare_parameter("classifier_threshold", 0.7); + std::vector ignore_classes = + this->declare_parameter("ignore_classes", std::vector{"negative"}); + detector->classifier = + std::make_unique(model_path, label_path, threshold, ignore_classes); + + return detector; +} + +std::vector ArmorDetectorNode::detectArmors( + const sensor_msgs::msg::Image::ConstSharedPtr & img_msg) +{ + // Convert ROS img to cv::Mat + auto img = cv_bridge::toCvShare(img_msg, "rgb8")->image; + + // Update params + detector_->binary_thres = get_parameter("binary_thres").as_int(); + detector_->detect_color = get_parameter("detect_color").as_int(); + detector_->classifier->threshold = get_parameter("classifier_threshold").as_double(); + + auto armors = detector_->detect(img); + + auto final_time = this->now(); + auto latency = (final_time - img_msg->header.stamp).seconds() * 1000; + RCLCPP_DEBUG_STREAM(this->get_logger(), "Latency: " << latency << "ms"); + + // Publish debug info + if (debug_) { + binary_img_pub_.publish( + cv_bridge::CvImage(img_msg->header, "mono8", detector_->binary_img).toImageMsg()); + + // Sort lights and armors data by x coordinate + std::sort( + detector_->debug_lights.data.begin(), detector_->debug_lights.data.end(), + [](const auto & l1, const auto & l2) { return l1.center_x < l2.center_x; }); + std::sort( + detector_->debug_armors.data.begin(), detector_->debug_armors.data.end(), + [](const auto & a1, const auto & a2) { return a1.center_x < a2.center_x; }); + + lights_data_pub_->publish(detector_->debug_lights); + armors_data_pub_->publish(detector_->debug_armors); + + if (!armors.empty()) { + auto all_num_img = detector_->getAllNumbersImage(); + number_img_pub_.publish( + *cv_bridge::CvImage(img_msg->header, "mono8", all_num_img).toImageMsg()); + } + + detector_->drawResults(img); + // Draw camera center + cv::circle(img, cam_center_, 5, cv::Scalar(255, 0, 0), 2); + // Draw latency + std::stringstream latency_ss; + latency_ss << "Latency: " << std::fixed << std::setprecision(2) << latency << "ms"; + auto latency_s = latency_ss.str(); + cv::putText( + img, latency_s, cv::Point(10, 30), cv::FONT_HERSHEY_SIMPLEX, 1.0, cv::Scalar(0, 255, 0), 2); + result_img_pub_.publish(cv_bridge::CvImage(img_msg->header, "rgb8", img).toImageMsg()); + } + + // 根据是否检测到装甲板调整处理频率 + if (!armors.empty()) { + processing_interval_ = std::chrono::milliseconds(30); + } else { + processing_interval_ = std::chrono::milliseconds(500); + } + + return armors; +} + +void ArmorDetectorNode::createDebugPublishers() +{ + lights_data_pub_ = + this->create_publisher("/detector/debug_lights", 10); + armors_data_pub_ = + this->create_publisher("/detector/debug_armors", 10); + + binary_img_pub_ = image_transport::create_publisher(this, "/detector/binary_img"); + number_img_pub_ = image_transport::create_publisher(this, "/detector/number_img"); + result_img_pub_ = image_transport::create_publisher(this, "/detector/result_img"); +} + +void ArmorDetectorNode::destroyDebugPublishers() +{ + lights_data_pub_.reset(); + armors_data_pub_.reset(); + + binary_img_pub_.shutdown(); + number_img_pub_.shutdown(); + result_img_pub_.shutdown(); +} + +void ArmorDetectorNode::publishMarkers() +{ + using Marker = visualization_msgs::msg::Marker; + armor_marker_.action = armors_msg_.armors.empty() ? Marker::DELETE : Marker::ADD; + marker_array_.markers.emplace_back(armor_marker_); + marker_pub_->publish(marker_array_); +} + +} // namespace rm_auto_aim + +#include "rclcpp_components/register_node_macro.hpp" + +// Register the component with class_loader. +// This acts as a sort of entry point, allowing the component to be discoverable when its library +// is being loaded into a running process. +RCLCPP_COMPONENTS_REGISTER_NODE(rm_auto_aim::ArmorDetectorNode) diff --git a/src/rm_vision/rm_auto_aim/armor_detector/src/number_classifier.cpp b/src/rm_vision/rm_auto_aim/armor_detector/src/number_classifier.cpp new file mode 100644 index 0000000..dacce60 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_detector/src/number_classifier.cpp @@ -0,0 +1,147 @@ +// Copyright 2022 Chen Jun +// Licensed under the MIT License. + +// OpenCV +#include +#include +#include +#include +#include +#include +#include +#include + +// STL +#include +#include +#include +#include +#include +#include + +#include "armor_detector/armor.hpp" +#include "armor_detector/number_classifier.hpp" + +namespace rm_auto_aim +{ +NumberClassifier::NumberClassifier( + const std::string & model_path, const std::string & label_path, const double thre, + const std::vector & ignore_classes) +: threshold(thre), ignore_classes_(ignore_classes) +{ + net_ = cv::dnn::readNetFromONNX(model_path); + + std::ifstream label_file(label_path); + std::string line; + while (std::getline(label_file, line)) { + class_names_.push_back(line); + } +} + +void NumberClassifier::extractNumbers(const cv::Mat & src, std::vector & armors) +{ + // Light length in image + const int light_length = 12; + // Image size after warp + const int warp_height = 28; + const int small_armor_width = 32; + const int large_armor_width = 54; + // Number ROI size + const cv::Size roi_size(20, 28); + + for (auto & armor : armors) { + // Warp perspective transform + cv::Point2f lights_vertices[4] = { + armor.left_light.bottom, armor.left_light.top, armor.right_light.top, + armor.right_light.bottom}; + + const int top_light_y = (warp_height - light_length) / 2 - 1; + const int bottom_light_y = top_light_y + light_length; + const int warp_width = armor.type == ArmorType::SMALL ? small_armor_width : large_armor_width; + cv::Point2f target_vertices[4] = { + cv::Point(0, bottom_light_y), + cv::Point(0, top_light_y), + cv::Point(warp_width - 1, top_light_y), + cv::Point(warp_width - 1, bottom_light_y), + }; + cv::Mat number_image; + auto rotation_matrix = cv::getPerspectiveTransform(lights_vertices, target_vertices); + cv::warpPerspective(src, number_image, rotation_matrix, cv::Size(warp_width, warp_height)); + + // Get ROI + number_image = + number_image(cv::Rect(cv::Point((warp_width - roi_size.width) / 2, 0), roi_size)); + + // Binarize + cv::cvtColor(number_image, number_image, cv::COLOR_RGB2GRAY); + cv::threshold(number_image, number_image, 0, 255, cv::THRESH_BINARY | cv::THRESH_OTSU); + + armor.number_img = number_image; + } +} + +void NumberClassifier::classify(std::vector & armors) +{ + for (auto & armor : armors) { + cv::Mat image = armor.number_img.clone(); + + // Normalize + image = image / 255.0; + + // Create blob from image + cv::Mat blob; + cv::dnn::blobFromImage(image, blob); + + // Set the input blob for the neural network + net_.setInput(blob); + // Forward pass the image blob through the model + cv::Mat outputs = net_.forward(); + + // Do softmax + float max_prob = *std::max_element(outputs.begin(), outputs.end()); + cv::Mat softmax_prob; + cv::exp(outputs - max_prob, softmax_prob); + float sum = static_cast(cv::sum(softmax_prob)[0]); + softmax_prob /= sum; + + double confidence; + cv::Point class_id_point; + minMaxLoc(softmax_prob.reshape(1, 1), nullptr, &confidence, nullptr, &class_id_point); + int label_id = class_id_point.x; + + armor.confidence = confidence; + armor.number = class_names_[label_id]; + + std::stringstream result_ss; + result_ss << armor.number << ": " << std::fixed << std::setprecision(1) + << armor.confidence * 100.0 << "%"; + armor.classfication_result = result_ss.str(); + } + + armors.erase( + std::remove_if( + armors.begin(), armors.end(), + [this](const Armor & armor) { + if (armor.confidence < threshold) { + return true; + } + + for (const auto & ignore_class : ignore_classes_) { + if (armor.number == ignore_class) { + return true; + } + } + + bool mismatch_armor_type = false; + if (armor.type == ArmorType::LARGE) { + mismatch_armor_type = + armor.number == "outpost" || armor.number == "2" || armor.number == "guard"; + } else if (armor.type == ArmorType::SMALL) { + mismatch_armor_type = armor.number == "1" || armor.number == "base"; + } + return mismatch_armor_type; + }), + armors.end()); +} + +} // namespace rm_auto_aim diff --git a/src/rm_vision/rm_auto_aim/armor_detector/src/pnp_solver.cpp b/src/rm_vision/rm_auto_aim/armor_detector/src/pnp_solver.cpp new file mode 100644 index 0000000..d4b4f72 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_detector/src/pnp_solver.cpp @@ -0,0 +1,58 @@ +// Copyright 2022 Chen Jun + +#include "armor_detector/pnp_solver.hpp" + +#include +#include + +namespace rm_auto_aim +{ +PnPSolver::PnPSolver( + const std::array & camera_matrix, const std::vector & dist_coeffs) +: camera_matrix_(cv::Mat(3, 3, CV_64F, const_cast(camera_matrix.data())).clone()), + dist_coeffs_(cv::Mat(1, 5, CV_64F, const_cast(dist_coeffs.data())).clone()) +{ + // Unit: m + constexpr double small_half_y = SMALL_ARMOR_WIDTH / 2.0 / 1000.0; + constexpr double small_half_z = SMALL_ARMOR_HEIGHT / 2.0 / 1000.0; + constexpr double large_half_y = LARGE_ARMOR_WIDTH / 2.0 / 1000.0; + constexpr double large_half_z = LARGE_ARMOR_HEIGHT / 2.0 / 1000.0; + + // Start from bottom left in clockwise order + // Model coordinate: x forward, y left, z up + small_armor_points_.emplace_back(cv::Point3f(0, small_half_y, -small_half_z)); + small_armor_points_.emplace_back(cv::Point3f(0, small_half_y, small_half_z)); + small_armor_points_.emplace_back(cv::Point3f(0, -small_half_y, small_half_z)); + small_armor_points_.emplace_back(cv::Point3f(0, -small_half_y, -small_half_z)); + + large_armor_points_.emplace_back(cv::Point3f(0, large_half_y, -large_half_z)); + large_armor_points_.emplace_back(cv::Point3f(0, large_half_y, large_half_z)); + large_armor_points_.emplace_back(cv::Point3f(0, -large_half_y, large_half_z)); + large_armor_points_.emplace_back(cv::Point3f(0, -large_half_y, -large_half_z)); +} + +bool PnPSolver::solvePnP(const Armor & armor, cv::Mat & rvec, cv::Mat & tvec) +{ + std::vector image_armor_points; + + // Fill in image points + image_armor_points.emplace_back(armor.left_light.bottom); + image_armor_points.emplace_back(armor.left_light.top); + image_armor_points.emplace_back(armor.right_light.top); + image_armor_points.emplace_back(armor.right_light.bottom); + + // Solve pnp + auto object_points = armor.type == ArmorType::SMALL ? small_armor_points_ : large_armor_points_; + return cv::solvePnP( + object_points, image_armor_points, camera_matrix_, dist_coeffs_, rvec, tvec, false, + cv::SOLVEPNP_IPPE); +} + +float PnPSolver::calculateDistanceToCenter(const cv::Point2f & image_point) +{ + float cx = camera_matrix_.at(0, 2); + float cy = camera_matrix_.at(1, 2); + return cv::norm(image_point - cv::Point2f(cx, cy)); +} + +} // namespace rm_auto_aim diff --git a/src/rm_vision/rm_auto_aim/armor_detector/test/test_node_startup.cpp b/src/rm_vision/rm_auto_aim/armor_detector/test/test_node_startup.cpp new file mode 100644 index 0000000..d584cef --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_detector/test/test_node_startup.cpp @@ -0,0 +1,28 @@ +// Copyright 2022 Chen Jun + +#include + +#include +#include +#include + +// STD +#include + +#include "armor_detector/detector_node.hpp" + +TEST(ArmorDetectorNodeTest, NodeStartupTest) +{ + rclcpp::NodeOptions options; + auto node = std::make_shared(options); + node.reset(); +} + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + rclcpp::init(argc, argv); + auto result = RUN_ALL_TESTS(); + rclcpp::shutdown(); + return result; +} diff --git a/src/rm_vision/rm_auto_aim/armor_detector/test/test_number_cls.cpp b/src/rm_vision/rm_auto_aim/armor_detector/test/test_number_cls.cpp new file mode 100644 index 0000000..2f216df --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_detector/test/test_number_cls.cpp @@ -0,0 +1,53 @@ +// Copyright 2022 Chen Jun + +#include + +#include +#include + +// STL +#include +#include +#include +#include +#include + +#include "armor_detector/number_classifier.hpp" + +using hrc = std::chrono::high_resolution_clock; + +TEST(test_nc, benchmark) +{ + auto pkg_path = ament_index_cpp::get_package_share_directory("armor_detector"); + auto model_path = pkg_path + "/model/mlp.onnx"; + auto label_path = pkg_path + "/model/label.txt"; + rm_auto_aim::NumberClassifier nc(model_path, label_path, 0.5); + + auto dummy_armors = std::vector(1); + auto test_mat = cv::Mat(20, 28, CV_8UC1); + dummy_armors[0].number_img = test_mat; + + int loop_num = 200; + int warm_up = 30; + + double time_min = DBL_MAX; + double time_max = -DBL_MAX; + double time_avg = 0; + + for (int i = 0; i < warm_up + loop_num; i++) { + auto start = hrc::now(); + nc.classify(dummy_armors); + auto end = hrc::now(); + double time = std::chrono::duration(end - start).count(); + if (i >= warm_up) { + time_min = std::min(time_min, time); + time_max = std::max(time_max, time); + time_avg += time; + } + } + time_avg /= loop_num; + + std::cout << "time_min: " << time_min << "ms" << std::endl; + std::cout << "time_max: " << time_max << "ms" << std::endl; + std::cout << "time_avg: " << time_avg << "ms" << std::endl; +} diff --git a/src/rm_vision/rm_auto_aim/armor_tracker/CMakeLists.txt b/src/rm_vision/rm_auto_aim/armor_tracker/CMakeLists.txt new file mode 100644 index 0000000..05a0498 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_tracker/CMakeLists.txt @@ -0,0 +1,64 @@ +cmake_minimum_required(VERSION 3.8) +project(armor_tracker) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(rclcpp_components REQUIRED) +find_package(std_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(auto_aim_interfaces REQUIRED) +find_package(rm_msgs REQUIRED) +find_package(Eigen3 REQUIRED) + +# include directories +include_directories(include) + +# add libraries +add_library(armor_tracker_right SHARED src/tracker_right.cpp) +ament_target_dependencies(armor_tracker_right rclcpp rclcpp_components std_msgs geometry_msgs auto_aim_interfaces rm_msgs Eigen3) +rclcpp_components_register_nodes(armor_tracker_right "ArmorTrackerNodeRight") + +add_library(armor_tracker_left SHARED src/tracker_left.cpp) +ament_target_dependencies(armor_tracker_left rclcpp rclcpp_components std_msgs geometry_msgs auto_aim_interfaces rm_msgs Eigen3) +rclcpp_components_register_nodes(armor_tracker_left "ArmorTrackerNodeLeft") + +# include Eigen3 directories +target_include_directories(armor_tracker_right PRIVATE ${EIGEN3_INCLUDE_DIR}) +target_include_directories(armor_tracker_left PRIVATE ${EIGEN3_INCLUDE_DIR}) + +# install targets +install(TARGETS + armor_tracker_right + armor_tracker_left + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin +) + +# install directories +install(DIRECTORY include/ + DESTINATION include +) + +install(DIRECTORY launch + DESTINATION share/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() \ No newline at end of file diff --git a/src/rm_vision/rm_auto_aim/armor_tracker/config/tracker_params.yaml b/src/rm_vision/rm_auto_aim/armor_tracker/config/tracker_params.yaml new file mode 100644 index 0000000..be61a1d --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_tracker/config/tracker_params.yaml @@ -0,0 +1,3 @@ +armor_tracker_node: + ros__parameters: + param_name: param_value \ No newline at end of file diff --git a/src/rm_vision/rm_auto_aim/armor_tracker/include/armor_tracker/kalman_filter.hpp b/src/rm_vision/rm_auto_aim/armor_tracker/include/armor_tracker/kalman_filter.hpp new file mode 100644 index 0000000..18850c8 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_tracker/include/armor_tracker/kalman_filter.hpp @@ -0,0 +1,48 @@ +#pragma once + +#include + +class KalmanFilter { +public: + KalmanFilter() { + // 简易初始化，具体参数可根据实际情况调整 + state_ = Eigen::Vector4d::Zero(); // [yaw, pitch, yaw_speed, pitch_speed] + P_ = Eigen::Matrix4d::Identity() * 0.1; + Q_ = Eigen::Matrix4d::Identity() * 0.05; // 过程噪声 + R_ = Eigen::Matrix2d::Identity() * 0.002; // 测量噪声 + F_ = Eigen::Matrix4d::Identity(); + H_ = Eigen::Matrix::Zero(); + H_(0, 0) = 1.0; // yaw + H_(1, 1) = 1.0; // pitch + } + + // 预测阶段 + void predict(double dt) { + // 状态方程：yaw += yaw_speed * dt; pitch += pitch_speed * dt + F_(0, 2) = dt; + F_(1, 3) = dt; + state_ = F_ * state_; + P_ = F_ * P_ * F_.transpose() + Q_; + } + + // 更新阶段 + void update(double yaw_meas, double pitch_meas) { + Eigen::Vector2d z; + z << yaw_meas, pitch_meas; + + auto y = z - H_ * state_; // 观测残差 + auto S = H_ * P_ * H_.transpose() + R_; + auto K = P_ * H_.transpose() * S.inverse(); + state_ = state_ + K * y; + P_ = (Eigen::Matrix4d::Identity() - K * H_) * P_; + } + + double getYaw() const { return state_(0); } + double getPitch() const { return state_(1); } + +private: + Eigen::Vector4d state_; + Eigen::Matrix4d P_, Q_, F_; + Eigen::Matrix H_; + Eigen::Matrix2d R_; +}; \ No newline at end of file diff --git a/src/rm_vision/rm_auto_aim/armor_tracker/include/armor_tracker/tracker_left.hpp b/src/rm_vision/rm_auto_aim/armor_tracker/include/armor_tracker/tracker_left.hpp new file mode 100644 index 0000000..c1b1443 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_tracker/include/armor_tracker/tracker_left.hpp @@ -0,0 +1,49 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include "auto_aim_interfaces/msg/armors.hpp" +#include "geometry_msgs/msg/point.hpp" +#include "rclcpp/rclcpp.hpp" +#include "rm_msgs/msg/data_ai.hpp" +#include "rm_msgs/msg/data_mcu.hpp" +#include +#include "armor_tracker/kalman_filter.hpp" + +/*云台数据结构体*/ +typedef struct +{ + float yaw; + float pit; + float rol; +} Gimbal_t; + +#define SEARCH 0b00010000 +#define TRACK 0b00000000 +#define SHOOT 0b00001000 + +class ArmorTrackerNodeLeft : public rclcpp::Node +{ +public: + ArmorTrackerNodeLeft(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()); + +private: + void topic_callback(const auto_aim_interfaces::msg::Armors::SharedPtr msg); + void mcu_callback(const rm_msgs::msg::DataMCU::SharedPtr msg); + std::tuple calculate_yaw_pitch_distance(const geometry_msgs::msg::Point & position); + double calculate_ballistic_compensation(double distance); + uint8_t calculate_notice(double yaw, double pitch, double distance); + std::optional select_armor(const std::vector & armors); + + rclcpp::Subscription::SharedPtr subscription_; + rclcpp::Publisher::SharedPtr publisher_; + rclcpp::Subscription::SharedPtr mcu_subscription_; + std::optional last_tracked_armor_; + int lost_count_; + std::unique_ptr kf_; + Gimbal_t gimbal; +}; \ No newline at end of file diff --git a/src/rm_vision/rm_auto_aim/armor_tracker/include/armor_tracker/tracker_right.hpp b/src/rm_vision/rm_auto_aim/armor_tracker/include/armor_tracker/tracker_right.hpp new file mode 100644 index 0000000..79b5f7e --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_tracker/include/armor_tracker/tracker_right.hpp @@ -0,0 +1,49 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include "auto_aim_interfaces/msg/armors.hpp" +#include "geometry_msgs/msg/point.hpp" +#include "rclcpp/rclcpp.hpp" +#include "rm_msgs/msg/data_ai.hpp" +#include "rm_msgs/msg/data_mcu.hpp" +#include +#include "armor_tracker/kalman_filter.hpp" + +/*云台数据结构体*/ +typedef struct +{ + float yaw; + float pit; + float rol; +} Gimbal_t; + +#define SEARCH 0b00010000 +#define TRACK 0b00000000 +#define SHOOT 0b00001000 + +class ArmorTrackerNodeRight : public rclcpp::Node +{ +public: + ArmorTrackerNodeRight(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()); + +private: + void topic_callback(const auto_aim_interfaces::msg::Armors::SharedPtr msg); + void mcu_callback(const rm_msgs::msg::DataMCU::SharedPtr msg); + std::tuple calculate_yaw_pitch_distance(const geometry_msgs::msg::Point & position); + double calculate_ballistic_compensation(double distance); + uint8_t calculate_notice(double yaw, double pitch, double distance); + std::optional select_armor(const std::vector & armors); + + rclcpp::Subscription::SharedPtr subscription_; + rclcpp::Publisher::SharedPtr publisher_; + rclcpp::Subscription::SharedPtr mcu_subscription_; + std::optional last_tracked_armor_; + int lost_count_; + std::unique_ptr kf_; + Gimbal_t gimbal; +}; \ No newline at end of file diff --git a/src/rm_vision/rm_auto_aim/armor_tracker/launch/tracker.launch.py b/src/rm_vision/rm_auto_aim/armor_tracker/launch/tracker.launch.py new file mode 100644 index 0000000..102d93e --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_tracker/launch/tracker.launch.py @@ -0,0 +1,33 @@ +import launch +from launch import LaunchDescription +from launch_ros.actions import ComposableNodeContainer +from launch_ros.descriptions import ComposableNode + +def generate_launch_description(): + return LaunchDescription([ + ComposableNodeContainer( + name='armor_tracker_container', + namespace='', + package='rclcpp_components', + executable='component_container', + composable_node_descriptions=[ + ComposableNode( + package='armor_tracker', + plugin='ArmorTrackerNodeLeft', + name='armor_tracker_node_left', + parameters=[{ + 'use_sim_time': False + }] + ), + ComposableNode( + package='armor_tracker', + plugin='ArmorTrackerNodeRight', + name='armor_tracker_node_right', + parameters=[{ + 'use_sim_time': False + }] + ) + ], + output='screen', + ), + ]) \ No newline at end of file diff --git a/src/rm_vision/rm_auto_aim/armor_tracker/launch/tracker_left.launch.py b/src/rm_vision/rm_auto_aim/armor_tracker/launch/tracker_left.launch.py new file mode 100644 index 0000000..a813904 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_tracker/launch/tracker_left.launch.py @@ -0,0 +1,25 @@ +import launch +from launch import LaunchDescription +from launch_ros.actions import ComposableNodeContainer +from launch_ros.descriptions import ComposableNode + +def generate_launch_description(): + return LaunchDescription([ + ComposableNodeContainer( + name='armor_tracker_container_left', + namespace='', + package='rclcpp_components', + executable='component_container', + composable_node_descriptions=[ + ComposableNode( + package='armor_tracker', + plugin='ArmorTrackerNodeLeft', + name='armor_tracker_node_left', + parameters=[{ + 'use_sim_time': False + }] + ) + ], + output='screen', + ), + ]) \ No newline at end of file diff --git a/src/rm_vision/rm_auto_aim/armor_tracker/launch/tracker_right.launch.py b/src/rm_vision/rm_auto_aim/armor_tracker/launch/tracker_right.launch.py new file mode 100644 index 0000000..ffaddc5 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_tracker/launch/tracker_right.launch.py @@ -0,0 +1,25 @@ +import launch +from launch import LaunchDescription +from launch_ros.actions import ComposableNodeContainer +from launch_ros.descriptions import ComposableNode + +def generate_launch_description(): + return LaunchDescription([ + ComposableNodeContainer( + name='armor_tracker_container_right', + namespace='', + package='rclcpp_components', + executable='component_container', + composable_node_descriptions=[ + ComposableNode( + package='armor_tracker', + plugin='ArmorTrackerNodeRight', + name='armor_tracker_node_right', + parameters=[{ + 'use_sim_time': False + }] + ) + ], + output='screen', + ), + ]) \ No newline at end of file diff --git a/src/rm_vision/rm_auto_aim/armor_tracker/package.xml b/src/rm_vision/rm_auto_aim/armor_tracker/package.xml new file mode 100644 index 0000000..8d3e0f5 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_tracker/package.xml @@ -0,0 +1,23 @@ + + + + armor_tracker + 0.0.0 + TODO: Package description + robofish + TODO: License declaration + + ament_cmake + + rclcpp + std_msgs + geometry_msgs + auto_aim_interfaces + rm_msgs + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/rm_vision/rm_auto_aim/armor_tracker/src/1.cpp b/src/rm_vision/rm_auto_aim/armor_tracker/src/1.cpp new file mode 100644 index 0000000..db1239b --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_tracker/src/1.cpp @@ -0,0 +1,152 @@ +#include "armor_tracker/tracker_left.hpp" + +/*云台数据结构体*/ +static Gimbal_t gimbal; + +ArmorTrackerNodeLeft::ArmorTrackerNodeLeft(const rclcpp::NodeOptions & options) +: Node("armor_tracker_node_left", options), last_tracked_armor_(std::nullopt), lost_count_(0) +{ + // this->declare_parameter("ballistic_compensation", -0.0018); + // 使用不可靠的QoS策略 + auto qos = rclcpp::SensorDataQoS(); + subscription_ = this->create_subscription( + "left_camera/detector/armors", qos, + std::bind(&ArmorTrackerNodeLeft::topic_callback, this, std::placeholders::_1)); + + publisher_ = this->create_publisher("gimbal_left/data_ai", 10); + + // 订阅 data_mcu 话题 + mcu_subscription_ = this->create_subscription( + "gimbal_left/data_mcu", qos, + std::bind(&ArmorTrackerNodeLeft::mcu_callback, this, std::placeholders::_1)); +} + +void ArmorTrackerNodeLeft::topic_callback(const auto_aim_interfaces::msg::Armors::SharedPtr msg) +{ + if (msg->armors.empty()) { + RCLCPP_WARN(this->get_logger(), "No armors detected."); + lost_count_++; + if (lost_count_ < 20) { + rm_msgs::msg::DataAI data_msg; + data_msg.yaw = 0.0; + data_msg.pit = 0.0; + data_msg.notice = TRACK; + publisher_->publish(data_msg); + } else { + rm_msgs::msg::DataAI data_msg; + data_msg.notice = SEARCH; + publisher_->publish(data_msg); + } + return; + } + + auto selected_armor = select_armor(msg->armors); + if (selected_armor) { + auto [yaw, pitch, distance] = calculate_yaw_pitch_distance(selected_armor->pose.position); + + RCLCPP_INFO( + this->get_logger(), "Tracking Armor number: %s, type: %s", selected_armor->number.c_str(), + selected_armor->type.c_str()); + RCLCPP_INFO(this->get_logger(), "yaw: %f, pitch: %f, distance: %f", yaw, pitch, distance); + last_tracked_armor_ = selected_armor; + + // 发布 yaw 和 pitch + rm_msgs::msg::DataAI data_msg; + data_msg.yaw = yaw; + data_msg.pit = pitch; + data_msg.notice = calculate_notice(yaw, pitch, distance); + publisher_->publish(data_msg); + + lost_count_ = 0; // 重置计数器 + } else { // 丢失目标 + RCLCPP_WARN(this->get_logger(), "Lost track of armor."); + lost_count_++; + if (lost_count_ < 20) { + rm_msgs::msg::DataAI data_msg; + data_msg.yaw = 0.0; + data_msg.pit = 0.0; + data_msg.notice = TRACK; + publisher_->publish(data_msg); + } + last_tracked_armor_ = std::nullopt; + } +} + +void ArmorTrackerNodeLeft::mcu_callback(const rm_msgs::msg::DataMCU::SharedPtr msg) +{ + gimbal.yaw = msg->yaw; + gimbal.pit = msg->pit; + gimbal.rol = msg->rol; +} + +std::tuple ArmorTrackerNodeLeft::calculate_yaw_pitch_distance(const geometry_msgs::msg::Point & position) +{ + double distance = + std::sqrt(position.x * position.x + position.y * position.y + position.z * position.z); + double yaw = ((position.x / distance) / 120); + double pitch = ((position.y / distance) / 100); + + pitch += calculate_ballistic_compensation(distance); + + return std::make_tuple(yaw, pitch, distance); +} + + +/** + * @brief 计算弹道补偿 + * @param distance + * @return + */ +double ArmorTrackerNodeLeft::calculate_ballistic_compensation(double distance) +{ + return -0.0001508*distance*distance + 0.0006828*distance - 0.002395; +} + + +/** + * @brief 设置是否允许发射 + * @param yaw + * @param pitch + * @param distance + * @return + */ +uint8_t ArmorTrackerNodeLeft::calculate_notice(double yaw, double pitch, double distance) +{ + if (distance < 5.0){ + if (distance < 2.0 && std::abs(yaw) < 0.0016 && std::abs(pitch) < 0.004){ + return SHOOT; + } else if (distance >= 2.0 && std::abs(yaw) < 0.0008 && std::abs(pitch) < 0.0003){ + return SHOOT; + } + } else { + return TRACK; + } +} + +std::optional ArmorTrackerNodeLeft::select_armor(const std::vector & armors) +{ + // 优先选择上一次跟踪的Armor + if (last_tracked_armor_) { + auto it = std::find_if( + armors.begin(), armors.end(), [this](const auto_aim_interfaces::msg::Armor & armor) { + return armor.number == last_tracked_armor_->number; + }); + if (it != armors.end()) { + return *it; + } + } + + // 选择距离最近的Armor + auto closest_armor = std::min_element( + armors.begin(), armors.end(), + [](const auto_aim_interfaces::msg::Armor & a, const auto_aim_interfaces::msg::Armor & b) { + return a.distance_to_image_center < b.distance_to_image_center; + }); + + return closest_armor != armors.end() + ? std::optional(*closest_armor) + : std::nullopt; +} + +#include "rclcpp_components/register_node_macro.hpp" +RCLCPP_COMPONENTS_REGISTER_NODE(ArmorTrackerNodeLeft) \ No newline at end of file diff --git a/src/rm_vision/rm_auto_aim/armor_tracker/src/tracker_left.cpp b/src/rm_vision/rm_auto_aim/armor_tracker/src/tracker_left.cpp new file mode 100644 index 0000000..2af94d4 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_tracker/src/tracker_left.cpp @@ -0,0 +1,140 @@ +#include "armor_tracker/tracker_left.hpp" + +ArmorTrackerNodeLeft::ArmorTrackerNodeLeft(const rclcpp::NodeOptions & options) +: Node("armor_tracker_node_left", options), last_tracked_armor_(std::nullopt), lost_count_(0) +{ + kf_ = std::make_unique(); + // this->declare_parameter("ballistic_compensation", -0.0018); + // 使用不可靠的QoS策略 + auto qos = rclcpp::SensorDataQoS(); + subscription_ = this->create_subscription( + "left_camera/detector/armors", qos, + std::bind(&ArmorTrackerNodeLeft::topic_callback, this, std::placeholders::_1)); + + publisher_ = this->create_publisher("gimbal_left/data_ai", 10); + + // 订阅 data_mcu 话题 + mcu_subscription_ = this->create_subscription( + "gimbal_left/data_mcu", qos, + std::bind(&ArmorTrackerNodeLeft::mcu_callback, this, std::placeholders::_1)); +} + +void ArmorTrackerNodeLeft::topic_callback(const auto_aim_interfaces::msg::Armors::SharedPtr msg) +{ + double dt = 0.02; + kf_->predict(dt); + + if (msg->armors.empty()) { + RCLCPP_WARN(this->get_logger(), "No armors detected."); + lost_count_++; + if (lost_count_ < 20) { + rm_msgs::msg::DataAI data_msg; + data_msg.yaw = 0.0; + data_msg.pit = 0.0; + data_msg.notice = TRACK; + publisher_->publish(data_msg); + } else { + rm_msgs::msg::DataAI data_msg; + data_msg.notice = SEARCH; + publisher_->publish(data_msg); + } + return; + } + + auto selected_armor = select_armor(msg->armors); + if (selected_armor) { + auto [yaw, pitch, distance] = calculate_yaw_pitch_distance(selected_armor->pose.position); + + RCLCPP_INFO( + this->get_logger(), "Tracking Armor number: %s, type: %s", selected_armor->number.c_str(), + selected_armor->type.c_str()); + RCLCPP_INFO(this->get_logger(), "yaw: %f, pitch: %f, distance: %f", yaw, pitch, distance); + last_tracked_armor_ = selected_armor; + kf_->update(yaw, -pitch); + // 发布 yaw 和 pitch + rm_msgs::msg::DataAI data_msg; + data_msg.yaw = yaw; + data_msg.pit = pitch; + data_msg.notice = calculate_notice(yaw, pitch, distance); + publisher_->publish(data_msg); + + lost_count_ = 0; // 重置计数器 + } else { // 丢失目标 + RCLCPP_WARN(this->get_logger(), "Lost track of armor."); + lost_count_++; + if (lost_count_ < 20) { + rm_msgs::msg::DataAI data_msg; + data_msg.yaw = 0.0; + data_msg.pit = 0.0; + data_msg.notice = TRACK; + publisher_->publish(data_msg); + } + last_tracked_armor_ = std::nullopt; + } +} + +void ArmorTrackerNodeLeft::mcu_callback(const rm_msgs::msg::DataMCU::SharedPtr msg) +{ + gimbal.yaw = msg->yaw; + gimbal.pit = msg->pit; + gimbal.rol = msg->rol; +} + +std::tuple ArmorTrackerNodeLeft::calculate_yaw_pitch_distance(const geometry_msgs::msg::Point & position) +{ + double distance = + std::sqrt(position.x * position.x + position.y * position.y + position.z * position.z); + double yaw = ((position.x / distance) / 120); + double pitch = ((position.y / distance) / 100); + + // 弹道补偿 + pitch += calculate_ballistic_compensation(distance); + + return std::make_tuple(yaw, pitch, distance); +} + +double ArmorTrackerNodeLeft::calculate_ballistic_compensation(double distance) +{ + return -0.0001508*distance*distance + 0.0006828*distance - 0.002395; +} + +uint8_t ArmorTrackerNodeLeft::calculate_notice(double yaw, double pitch, double distance) +{ + if (distance < 5.0){ + if (distance < 2.0 && std::abs(yaw) < 0.0016 && std::abs(pitch) < 0.004){ + return SHOOT; + } else if (distance >= 2.0 && std::abs(yaw) < 0.0008 && std::abs(pitch) < 0.0003){ + return SHOOT; + } + } else { + return TRACK; + } +} + +std::optional ArmorTrackerNodeLeft::select_armor(const std::vector & armors) +{ + // 优先选择上一次跟踪的Armor + if (last_tracked_armor_) { + auto it = std::find_if( + armors.begin(), armors.end(), [this](const auto_aim_interfaces::msg::Armor & armor) { + return armor.number == last_tracked_armor_->number; + }); + if (it != armors.end()) { + return *it; + } + } + + // 选择距离最近的Armor + auto closest_armor = std::min_element( + armors.begin(), armors.end(), + [](const auto_aim_interfaces::msg::Armor & a, const auto_aim_interfaces::msg::Armor & b) { + return a.distance_to_image_center < b.distance_to_image_center; + }); + + return closest_armor != armors.end() + ? std::optional(*closest_armor) + : std::nullopt; +} + +#include "rclcpp_components/register_node_macro.hpp" +RCLCPP_COMPONENTS_REGISTER_NODE(ArmorTrackerNodeLeft) \ No newline at end of file diff --git a/src/rm_vision/rm_auto_aim/armor_tracker/src/tracker_right.cpp b/src/rm_vision/rm_auto_aim/armor_tracker/src/tracker_right.cpp new file mode 100644 index 0000000..1800827 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/armor_tracker/src/tracker_right.cpp @@ -0,0 +1,142 @@ +#include "armor_tracker/tracker_right.hpp" + +ArmorTrackerNodeRight::ArmorTrackerNodeRight(const rclcpp::NodeOptions & options) +: Node("armor_tracker_node_right", options), last_tracked_armor_(std::nullopt), lost_count_(0) +{ + kf_ = std::make_unique(); + // this->declare_parameter("ballistic_compensation", -0.0018); + // 使用不可靠的QoS策略 + auto qos = rclcpp::SensorDataQoS(); + subscription_ = this->create_subscription( + "right_camera/detector/armors", qos, + std::bind(&ArmorTrackerNodeRight::topic_callback, this, std::placeholders::_1)); + + publisher_ = this->create_publisher("gimbal_right/data_ai", 10); + + // 订阅 data_mcu 话题 + mcu_subscription_ = this->create_subscription( + "gimbal_right/data_mcu", qos, + std::bind(&ArmorTrackerNodeRight::mcu_callback, this, std::placeholders::_1)); +} + +void ArmorTrackerNodeRight::topic_callback(const auto_aim_interfaces::msg::Armors::SharedPtr msg) +{ + double dt = 0.02; + kf_->predict(dt); + + if (msg->armors.empty()) { + RCLCPP_WARN(this->get_logger(), "No armors detected."); + lost_count_++; + if (lost_count_ < 20) { + rm_msgs::msg::DataAI data_msg; + data_msg.yaw = 0.0; + data_msg.pit = 0.0; + data_msg.notice = TRACK; + publisher_->publish(data_msg); + } else { + rm_msgs::msg::DataAI data_msg; + data_msg.notice = SEARCH; + publisher_->publish(data_msg); + } + return; + } + + auto selected_armor = select_armor(msg->armors); + if (selected_armor) { + auto [yaw, pitch, distance] = calculate_yaw_pitch_distance(selected_armor->pose.position); + + RCLCPP_INFO( + this->get_logger(), "Tracking Armor number: %s, type: %s", selected_armor->number.c_str(), + selected_armor->type.c_str()); + RCLCPP_INFO(this->get_logger(), "yaw: %f, pitch: %f, distance: %f", yaw, pitch, distance); + last_tracked_armor_ = selected_armor; + kf_->update(yaw, -pitch); + // 发布 yaw 和 pitch + rm_msgs::msg::DataAI data_msg; + data_msg.yaw = yaw; + data_msg.pit = -pitch; + data_msg.notice = calculate_notice(yaw, pitch, distance); + publisher_->publish(data_msg); + + lost_count_ = 0; // 重置计数器 + } else { // 丢失目标 + RCLCPP_WARN(this->get_logger(), "Lost track of armor."); + lost_count_++; + if (lost_count_ < 20) { + rm_msgs::msg::DataAI data_msg; + data_msg.yaw = 0.0; + data_msg.pit = 0.0; + data_msg.notice = TRACK; + publisher_->publish(data_msg); + } + last_tracked_armor_ = std::nullopt; + } +} + +void ArmorTrackerNodeRight::mcu_callback(const rm_msgs::msg::DataMCU::SharedPtr msg) +{ + gimbal.yaw = msg->yaw; + gimbal.pit = msg->pit; + gimbal.rol = msg->rol; +} + +std::tuple ArmorTrackerNodeRight::calculate_yaw_pitch_distance(const geometry_msgs::msg::Point & position) +{ + double distance = + std::sqrt(position.x * position.x + position.y * position.y + position.z * position.z); + double yaw = ((position.x / distance) / 120); + double pitch = ((position.y / distance) / 100); + + // 弹道补偿 + pitch += calculate_ballistic_compensation(distance); + + return std::make_tuple(yaw, pitch, distance); +} + +double ArmorTrackerNodeRight::calculate_ballistic_compensation(double distance) +{ + // return -0.0001508*distance*distance + 0.0006828*distance - 0.002395; + return -0.0001317*distance*distance + 0.0006412*distance - 0.001734; + // return this->get_parameter("ballistic_compensation").as_double(); +} + +uint8_t ArmorTrackerNodeRight::calculate_notice(double yaw, double pitch, double distance) +{ + if (distance < 5.0){ + if (distance < 2.0 && std::abs(yaw) < 0.0016 && std::abs(pitch) < 0.004){ + return SHOOT; + } else if (distance >= 2.0 && std::abs(yaw) < 0.0008 && std::abs(pitch) < 0.0003){ + return SHOOT; + } + } else { + return TRACK; + } +} + +std::optional ArmorTrackerNodeRight::select_armor(const std::vector & armors) +{ + // 优先选择上一次跟踪的Armor + if (last_tracked_armor_) { + auto it = std::find_if( + armors.begin(), armors.end(), [this](const auto_aim_interfaces::msg::Armor & armor) { + return armor.number == last_tracked_armor_->number; + }); + if (it != armors.end()) { + return *it; + } + } + + // 选择距离最近的Armor + auto closest_armor = std::min_element( + armors.begin(), armors.end(), + [](const auto_aim_interfaces::msg::Armor & a, const auto_aim_interfaces::msg::Armor & b) { + return a.distance_to_image_center < b.distance_to_image_center; + }); + + return closest_armor != armors.end() + ? std::optional(*closest_armor) + : std::nullopt; +} + +#include "rclcpp_components/register_node_macro.hpp" +RCLCPP_COMPONENTS_REGISTER_NODE(ArmorTrackerNodeRight) \ No newline at end of file diff --git a/src/rm_vision/rm_auto_aim/auto_aim_interfaces/CMakeLists.txt b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/CMakeLists.txt new file mode 100644 index 0000000..0545379 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/CMakeLists.txt @@ -0,0 +1,30 @@ +cmake_minimum_required(VERSION 3.8) +project(auto_aim_interfaces) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(geometry_msgs REQUIRED) + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/Armor.msg" + "msg/Armors.msg" + "msg/Target.msg" + + "msg/DebugLight.msg" + "msg/DebugLights.msg" + "msg/DebugArmor.msg" + "msg/DebugArmors.msg" + "msg/TrackerInfo.msg" + + DEPENDENCIES + std_msgs + geometry_msgs +) + + +ament_package() diff --git a/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/Armor.msg b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/Armor.msg new file mode 100644 index 0000000..723f523 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/Armor.msg @@ -0,0 +1,4 @@ +string number +string type +float32 distance_to_image_center +geometry_msgs/Pose pose \ No newline at end of file diff --git a/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/Armors.msg b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/Armors.msg new file mode 100644 index 0000000..0a70d30 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/Armors.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +Armor[] armors \ No newline at end of file diff --git a/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/DebugArmor.msg b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/DebugArmor.msg new file mode 100644 index 0000000..cf96eec --- /dev/null +++ b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/DebugArmor.msg @@ -0,0 +1,5 @@ +int32 center_x +string type +float32 light_ratio +float32 center_distance +float32 angle diff --git a/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/DebugArmors.msg b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/DebugArmors.msg new file mode 100644 index 0000000..e12e300 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/DebugArmors.msg @@ -0,0 +1 @@ +DebugArmor[] data \ No newline at end of file diff --git a/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/DebugLight.msg b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/DebugLight.msg new file mode 100644 index 0000000..c876dbc --- /dev/null +++ b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/DebugLight.msg @@ -0,0 +1,4 @@ +int32 center_x +bool is_light +float32 ratio +float32 angle \ No newline at end of file diff --git a/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/DebugLights.msg b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/DebugLights.msg new file mode 100644 index 0000000..14e31ce --- /dev/null +++ b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/DebugLights.msg @@ -0,0 +1 @@ +DebugLight[] data \ No newline at end of file diff --git a/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/Target.msg b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/Target.msg new file mode 100644 index 0000000..ed139c2 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/Target.msg @@ -0,0 +1,2 @@ +bool track_stats +geometry_msgs/Pose pose \ No newline at end of file diff --git a/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/TrackerInfo.msg b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/TrackerInfo.msg new file mode 100644 index 0000000..5d6bc35 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/TrackerInfo.msg @@ -0,0 +1,6 @@ +# Difference between the current measurement and prediction +float64 position_diff +float64 yaw_diff +# Unfiltered position and yaw +geometry_msgs/Point position +float64 yaw diff --git a/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/TrackerTracker.msg b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/TrackerTracker.msg new file mode 100644 index 0000000..b32ce97 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/msg/TrackerTracker.msg @@ -0,0 +1,2 @@ +string state +geometry_msgs/Pose pose \ No newline at end of file diff --git a/src/rm_vision/rm_auto_aim/auto_aim_interfaces/package.xml b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/package.xml new file mode 100644 index 0000000..11a6ed3 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/auto_aim_interfaces/package.xml @@ -0,0 +1,21 @@ + + + + auto_aim_interfaces + 0.0.0 + TODO: Package description + chenjun + TODO: License declaration + + ament_cmake + + rosidl_default_generators + rosidl_default_runtime + rosidl_interface_packages + + geometry_msgs + + + ament_cmake + + diff --git a/src/rm_vision/rm_auto_aim/docs/rm_vision.svg b/src/rm_vision/rm_auto_aim/docs/rm_vision.svg new file mode 100644 index 0000000..a9d40c6 --- /dev/null +++ b/src/rm_vision/rm_auto_aim/docs/rm_vision.svg @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/src/rm_vision/rm_gimbal_description/.gitignore b/src/rm_vision/rm_gimbal_description/.gitignore new file mode 100644 index 0000000..35d74bb --- /dev/null +++ b/src/rm_vision/rm_gimbal_description/.gitignore @@ -0,0 +1,51 @@ +devel/ +logs/ +build/ +bin/ +lib/ +msg_gen/ +srv_gen/ +msg/*Action.msg +msg/*ActionFeedback.msg +msg/*ActionGoal.msg +msg/*ActionResult.msg +msg/*Feedback.msg +msg/*Goal.msg +msg/*Result.msg +msg/_*.py +build_isolated/ +devel_isolated/ + +# Generated by dynamic reconfigure +*.cfgc +/cfg/cpp/ +/cfg/*.py + +# Ignore generated docs +*.dox +*.wikidoc + +# eclipse stuff +.project +.cproject + +# qcreator stuff +CMakeLists.txt.user + +srv/_*.py +*.pcd +*.pyc +qtcreator-* +*.user + +/planning/cfg +/planning/docs +/planning/src + +*~ + +# Emacs +.#* + +# Catkin custom files +CATKIN_IGNORE diff --git a/src/rm_vision/rm_gimbal_description/CMakeLists.txt b/src/rm_vision/rm_gimbal_description/CMakeLists.txt new file mode 100644 index 0000000..335305a --- /dev/null +++ b/src/rm_vision/rm_gimbal_description/CMakeLists.txt @@ -0,0 +1,18 @@ +cmake_minimum_required(VERSION 3.8) +project(rm_gimbal_description) + +# find dependencies +find_package(ament_cmake REQUIRED) + +# Install files +install(DIRECTORY + urdf + DESTINATION share/${PROJECT_NAME}) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + set(ament_cmake_copyright_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/src/rm_vision/rm_gimbal_description/LICENSE b/src/rm_vision/rm_gimbal_description/LICENSE new file mode 100644 index 0000000..261eeb9 --- /dev/null +++ b/src/rm_vision/rm_gimbal_description/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/src/rm_vision/rm_gimbal_description/README.md b/src/rm_vision/rm_gimbal_description/README.md new file mode 100644 index 0000000..31c85bf --- /dev/null +++ b/src/rm_vision/rm_gimbal_description/README.md @@ -0,0 +1,26 @@ +# rm_gimbal_description +RoboMaster 视觉自瞄系统所需的 URDF + +rm_vision + +该项目为 [rm_vision](https://github.com/chenjunnn/rm_vision) 的子模块 + +## 坐标系定义 + +单位和方向请参考 https://www.ros.org/reps/rep-0103.html + +odom: 以云台中心为原点的惯性系 + +yaw_joint: 表述云台的 yaw 轴与惯性系的旋转关系 + +pitch_joint: 表述云台的 pitch 轴与惯性系的旋转关系 + +camera_joint: 表述相机到惯性系的变换关系 + +camera_optical_joint: 表述以 z 轴为前方的相机坐标系转换为 x 轴为前方的相机坐标系的旋转关系 + +## 使用方法 + +修改 [urdf/rm_gimbal.urdf.xacro](urdf/rm_gimbal.urdf.xacro) 中的 `gimbal_camera_transfrom` + +xyz 与 rpy 对应机器人云台上相机到云台中心的平移与旋转关系，可以由机械图纸测量得到，或在机器人上直接测量 diff --git a/src/rm_vision/rm_gimbal_description/docs/rm_vision.svg b/src/rm_vision/rm_gimbal_description/docs/rm_vision.svg new file mode 100644 index 0000000..a9d40c6 --- /dev/null +++ b/src/rm_vision/rm_gimbal_description/docs/rm_vision.svg @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/src/rm_vision/rm_gimbal_description/package.xml b/src/rm_vision/rm_gimbal_description/package.xml new file mode 100644 index 0000000..863b9a5 --- /dev/null +++ b/src/rm_vision/rm_gimbal_description/package.xml @@ -0,0 +1,21 @@ + + + + rm_gimbal_description + 0.0.0 + TODO: Package description + chenjun + TODO: License declaration + + ament_cmake + + launch_ros + xacro + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/rm_vision/rm_gimbal_description/urdf/rm_gimbal.urdf.xacro b/src/rm_vision/rm_gimbal_description/urdf/rm_gimbal.urdf.xacro new file mode 100644 index 0000000..99b0acc --- /dev/null +++ b/src/rm_vision/rm_gimbal_description/urdf/rm_gimbal.urdf.xacro @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/rm_vision/rm_vision_bringup/CMakeLists.txt b/src/rm_vision/rm_vision_bringup/CMakeLists.txt new file mode 100644 index 0000000..8ff6598 --- /dev/null +++ b/src/rm_vision/rm_vision_bringup/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 3.8) +project(rm_vision_bringup) + +find_package(ament_cmake_auto REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + set(ament_cmake_copyright_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package( + INSTALL_TO_SHARE + launch + config +) diff --git a/src/rm_vision/rm_vision_bringup/config/camera_info.yaml b/src/rm_vision/rm_vision_bringup/config/camera_info.yaml new file mode 100644 index 0000000..b55cf3c --- /dev/null +++ b/src/rm_vision/rm_vision_bringup/config/camera_info.yaml @@ -0,0 +1,26 @@ +image_width: 1440 +image_height: 1080 +camera_name: narrow_stereo +camera_matrix: + rows: 3 + cols: 3 + data: [1807.12121, 0. , 711.11997, + 0. , 1806.46896, 562.49495, + 0. , 0. , 1. ] +distortion_model: plumb_bob +distortion_coefficients: + rows: 1 + cols: 5 + data: [-0.078049, 0.158627, 0.000304, -0.000566, 0.000000] +rectification_matrix: + rows: 3 + cols: 3 + data: [1., 0., 0., + 0., 1., 0., + 0., 0., 1.] +projection_matrix: + rows: 3 + cols: 4 + data: [1790.52356, 0. , 710.04861, 0. , + 0. , 1794.3208 , 562.32704, 0. , + 0. , 0. , 1. , 0. ] diff --git a/src/rm_vision/rm_vision_bringup/config/camera_params.yaml b/src/rm_vision/rm_vision_bringup/config/camera_params.yaml new file mode 100644 index 0000000..5fc50d4 --- /dev/null +++ b/src/rm_vision/rm_vision_bringup/config/camera_params.yaml @@ -0,0 +1,18 @@ +/hik_camera: + ros__parameters: + camera_name: narrow_stereo + + exposure_time: 6000 + gain: 32.0 + +/left_camera/left_camera: + ros__parameters: + camera_name: narrow_stereo + exposure_time: 6000 + gain: 32.0 + +/right_camera/right_camera: + ros__parameters: + camera_name: narrow_stereo + exposure_time: 6000 + gain: 32.0 \ No newline at end of file diff --git a/src/rm_vision/rm_vision_bringup/config/launch_params.yaml b/src/rm_vision/rm_vision_bringup/config/launch_params.yaml new file mode 100644 index 0000000..10b60d0 --- /dev/null +++ b/src/rm_vision/rm_vision_bringup/config/launch_params.yaml @@ -0,0 +1,9 @@ +camera: hik + +odom2camera: + xyz: "\"0.10 0.0 0.05\"" + rpy: "\"0.0 0.0 0.0\"" + +detector_log_level: INFO +tracker_log_level: INFO +serial_log_level: INFO diff --git a/src/rm_vision/rm_vision_bringup/config/node_params.yaml b/src/rm_vision/rm_vision_bringup/config/node_params.yaml new file mode 100644 index 0000000..0ee78dc --- /dev/null +++ b/src/rm_vision/rm_vision_bringup/config/node_params.yaml @@ -0,0 +1,47 @@ +/camera_node: + ros__parameters: + camera_info_url: package://rm_vision_bringup/config/camera_info.yaml + exposure_time: 2500 + gain: 8.0 + +/serial_driver: + ros__parameters: + timestamp_offset: 0.006 + device_name: /dev/ttyACM0 + baud_rate: 115200 + flow_control: none + parity: none + stop_bits: "1" + +/armor_detector: + ros__parameters: + debug: true + + detect_color: 0 + binary_thres: 80 + + light.min_ratio: 0.1 + armor.min_light_ratio: 0.8 + + classifier_threshold: 0.8 + ignore_classes: ["negative"] + +/armor_tracker: + ros__parameters: + target_frame: odom + max_armor_distance: 10.0 + + ekf: + sigma2_q_xyz: 0.05 + sigma2_q_yaw: 5.0 + sigma2_q_r: 80.0 + + r_xyz_factor: 4e-4 + r_yaw: 5e-3 + + tracker: + max_match_distance: 0.5 + max_match_yaw_diff: 1.0 + + tracking_thres: 5 + lost_time_thres: 1.0 diff --git a/src/rm_vision/rm_vision_bringup/launch/1.py b/src/rm_vision/rm_vision_bringup/launch/1.py new file mode 100644 index 0000000..790e72c --- /dev/null +++ b/src/rm_vision/rm_vision_bringup/launch/1.py @@ -0,0 +1,59 @@ +import os +import sys +from ament_index_python.packages import get_package_share_directory +sys.path.append(os.path.join(get_package_share_directory('rm_vision_bringup'), 'launch')) + +def generate_launch_description(): + + from common import launch_params, node_params + from launch_ros.actions import Node + from launch import LaunchDescription + + left_detector_node = Node( + package='armor_detector', + executable='armor_detector_node', + name='left_armor_detector', + namespace='left_camera', + emulate_tty=True, + output='both', + parameters=[node_params], + remappings=[ + ('image_raw', '/left_camera/image_raw'), + ('camera_info', '/left_camera/camera_info'), + ('detector/armors', '/left_camera/detector/armors'), + ('/detector/debug_lights', '/left_camera/detector/debug_lights'), + ('/detector/debug_armors', '/left_camera/detector/debug_armors'), + ('/detector/binary_img', '/left_camera/detector/binary_img'), + ('/detector/number_img', '/left_camera/detector/number_img'), + ('/detector/result_img', '/left_camera/detector/result_img'), + ], + arguments=['--ros-args', '--log-level', + 'armor_detector:='+launch_params['detector_log_level']], + ) + + right_detector_node = Node( + package='armor_detector', + executable='armor_detector_node', + name='right_armor_detector', + namespace='right_camera', + emulate_tty=True, + output='both', + parameters=[node_params], + remappings=[ + ('image_raw', '/right_camera/image_raw'), + ('camera_info', '/right_camera/camera_info'), + ('detector/armors', '/right_camera/detector/armors'), + ('/detector/debug_lights', '/right_camera/detector/debug_lights'), + ('/detector/debug_armors', '/right_camera/detector/debug_armors'), + ('/detector/binary_img', '/right_camera/detector/binary_img'), + ('/detector/number_img', '/right_camera/detector/number_img'), + ('/detector/result_img', '/right_camera/detector/result_img'), + ], + arguments=['--ros-args', '--log-level', + 'armor_detector:='+launch_params['detector_log_level']], + ) + + return LaunchDescription([ + left_detector_node, + right_detector_node, + ]) \ No newline at end of file diff --git a/src/rm_vision/rm_vision_bringup/launch/common.py b/src/rm_vision/rm_vision_bringup/launch/common.py new file mode 100644 index 0000000..c731a60 --- /dev/null +++ b/src/rm_vision/rm_vision_bringup/launch/common.py @@ -0,0 +1,32 @@ +import os +import yaml + +from ament_index_python.packages import get_package_share_directory +from launch.substitutions import Command +from launch_ros.actions import Node + +launch_params = yaml.safe_load(open(os.path.join( + get_package_share_directory('rm_vision_bringup'), 'config', 'launch_params.yaml'))) + +robot_description = Command(['xacro ', os.path.join( + get_package_share_directory('rm_gimbal_description'), 'urdf', 'rm_gimbal.urdf.xacro'), + ' xyz:=', launch_params['odom2camera']['xyz'], ' rpy:=', launch_params['odom2camera']['rpy']]) + +robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + parameters=[{'robot_description': robot_description, + 'publish_frequency': 1000.0}] +) + +node_params = os.path.join( + get_package_share_directory('rm_vision_bringup'), 'config', 'node_params.yaml') + +tracker_node = Node( + package='armor_tracker', + executable='armor_tracker_node', + output='both', + emulate_tty=True, + parameters=[node_params], + ros_arguments=['--log-level', 'armor_tracker:='+launch_params['tracker_log_level']], +) diff --git a/src/rm_vision/rm_vision_bringup/launch/no_hardware.launch.py b/src/rm_vision/rm_vision_bringup/launch/no_hardware.launch.py new file mode 100644 index 0000000..a6cb7a6 --- /dev/null +++ b/src/rm_vision/rm_vision_bringup/launch/no_hardware.launch.py @@ -0,0 +1,26 @@ +import os +import sys +from ament_index_python.packages import get_package_share_directory +sys.path.append(os.path.join(get_package_share_directory('rm_vision_bringup'), 'launch')) + + +def generate_launch_description(): + + from common import launch_params, robot_state_publisher, node_params + from launch_ros.actions import Node + from launch import LaunchDescription + + detector_node = Node( + package='armor_detector', + executable='armor_detector_node', + emulate_tty=True, + output='both', + parameters=[node_params], + arguments=['--ros-args', '--log-level', + 'armor_detector:='+launch_params['detector_log_level']], + ) + + return LaunchDescription([ + robot_state_publisher, + detector_node, + ]) diff --git a/src/rm_vision/rm_vision_bringup/launch/only_detector.launch.py b/src/rm_vision/rm_vision_bringup/launch/only_detector.launch.py new file mode 100644 index 0000000..718ec71 --- /dev/null +++ b/src/rm_vision/rm_vision_bringup/launch/only_detector.launch.py @@ -0,0 +1,60 @@ +import os +import sys +from ament_index_python.packages import get_package_share_directory +sys.path.append(os.path.join(get_package_share_directory('rm_vision_bringup'), 'launch')) + +from launch_ros.actions import Node +from launch import LaunchDescription + +def generate_launch_description(): + from common import launch_params, robot_state_publisher, node_params + + left_detector_node = Node( + package='armor_detector', + executable='armor_detector_node', + emulate_tty=True, + output='both', + parameters=[node_params], + arguments=['--ros-args', '--log-level', + 'armor_detector:='+launch_params['detector_log_level']], + remappings=[ + ('image_raw', '/left_camera/image_raw'), + ('camera_info', '/left_camera/camera_info'), + ('detector/armors', '/left_camera/detector/armors'), + ('detector/marker', '/left_camera/detector/marker'), + # 如有需要，可添加其它 debug topic 的 remapping + ('detector/debug_lights', '/left_camera/detector/debug_lights'), + ('detector/debug_armors', '/left_camera/detector/debug_armors'), + ('detector/binary_img', '/left_camera/detector/binary_img'), + ('detector/number_img', '/left_camera/detector/number_img'), + ('detector/result_img', '/left_camera/detector/result_img'), + ] + ) + + right_detector_node = Node( + package='armor_detector', + executable='armor_detector_node', + emulate_tty=True, + output='both', + parameters=[node_params], + arguments=['--ros-args', '--log-level', + 'armor_detector:='+launch_params['detector_log_level']], + remappings=[ + ('image_raw', '/right_camera/image_raw'), + ('camera_info', '/right_camera/camera_info'), + ('detector/armors', '/right_camera/detector/armors'), + ('detector/marker', '/right_camera/detector/marker'), + # 调整其它 debug topic 的 remapping + ('detector/debug_lights', '/right_camera/detector/debug_lights'), + ('detector/debug_armors', '/right_camera/detector/debug_armors'), + ('detector/binary_img', '/right_camera/detector/binary_img'), + ('detector/number_img', '/right_camera/detector/number_img'), + ('detector/result_img', '/right_camera/detector/result_img'), + ] + ) + + return LaunchDescription([ + robot_state_publisher, + left_detector_node, + right_detector_node, + ]) \ No newline at end of file diff --git a/src/rm_vision/rm_vision_bringup/launch/vision_bringup.launch.py b/src/rm_vision/rm_vision_bringup/launch/vision_bringup.launch.py new file mode 100644 index 0000000..33c9cee --- /dev/null +++ b/src/rm_vision/rm_vision_bringup/launch/vision_bringup.launch.py @@ -0,0 +1,102 @@ +import os +import sys +from ament_index_python.packages import get_package_share_directory +sys.path.append(os.path.join(get_package_share_directory('rm_vision_bringup'), 'launch')) + +from launch_ros.actions import Node +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration + +def generate_launch_description(): + from common import launch_params, robot_state_publisher, node_params + + params_file = os.path.join( + get_package_share_directory('hik_camera'), 'config', 'camera_params.yaml') + + camera_info_url = 'package://hik_camera/config/camera_info.yaml' + + left_camera_node = Node( + package='hik_camera', + executable='hik_camera_node', + namespace='left_camera', + name='left_camera', + output='screen', + emulate_tty=True, + parameters=[LaunchConfiguration('params_file'), { + 'camera_info_url': LaunchConfiguration('camera_info_url'), + 'use_sensor_data_qos': LaunchConfiguration('use_sensor_data_qos'), + 'camera_serial_number': LaunchConfiguration('left_camera_serial_number'), + }], + ) + + right_camera_node = Node( + package='hik_camera', + executable='hik_camera_node', + namespace='right_camera', + name='right_camera', + output='screen', + emulate_tty=True, + parameters=[LaunchConfiguration('params_file'), { + 'camera_info_url': LaunchConfiguration('camera_info_url'), + 'use_sensor_data_qos': LaunchConfiguration('use_sensor_data_qos'), + 'camera_serial_number': LaunchConfiguration('right_camera_serial_number'), + }], + ) + + left_detector_node = Node( + package='armor_detector', + executable='armor_detector_node', + emulate_tty=True, + output='both', + parameters=[node_params], + arguments=['--ros-args', '--log-level', + 'armor_detector:='+launch_params['detector_log_level']], + remappings=[ + ('image_raw', '/left_camera/image_raw'), + ('camera_info', '/left_camera/camera_info'), + ('detector/armors', '/left_camera/detector/armors'), + ('detector/marker', '/left_camera/detector/marker'), + # 如有需要，可添加其它 debug topic 的 remapping + ('detector/debug_lights', '/left_camera/detector/debug_lights'), + ('detector/debug_armors', '/left_camera/detector/debug_armors'), + ('detector/binary_img', '/left_camera/detector/binary_img'), + ('detector/number_img', '/left_camera/detector/number_img'), + ('detector/result_img', '/left_camera/detector/result_img'), + ] + ) + + right_detector_node = Node( + package='armor_detector', + executable='armor_detector_node', + emulate_tty=True, + output='both', + parameters=[node_params], + arguments=['--ros-args', '--log-level', + 'armor_detector:='+launch_params['detector_log_level']], + remappings=[ + ('image_raw', '/right_camera/image_raw'), + ('camera_info', '/right_camera/camera_info'), + ('detector/armors', '/right_camera/detector/armors'), + ('detector/marker', '/right_camera/detector/marker'), + # 调整其它 debug topic 的 remapping + ('detector/debug_lights', '/right_camera/detector/debug_lights'), + ('detector/debug_armors', '/right_camera/detector/debug_armors'), + ('detector/binary_img', '/right_camera/detector/binary_img'), + ('detector/number_img', '/right_camera/detector/number_img'), + ('detector/result_img', '/right_camera/detector/result_img'), + ] + ) + + return LaunchDescription([ + DeclareLaunchArgument(name='params_file', default_value=params_file), + DeclareLaunchArgument(name='camera_info_url', default_value=camera_info_url), + DeclareLaunchArgument(name='use_sensor_data_qos', default_value='false'), + DeclareLaunchArgument(name='left_camera_serial_number', default_value='DA0377730'), + DeclareLaunchArgument(name='right_camera_serial_number', default_value='DA4645896'), + robot_state_publisher, + left_camera_node, + right_camera_node, + left_detector_node, + right_detector_node, + ]) \ No newline at end of file diff --git a/src/rm_vision/rm_vision_bringup/package.xml b/src/rm_vision/rm_vision_bringup/package.xml new file mode 100644 index 0000000..0a7710a --- /dev/null +++ b/src/rm_vision/rm_vision_bringup/package.xml @@ -0,0 +1,18 @@ + + + + rm_vision_bringup + 0.0.0 + TODO: Package description + chenjun + TODO: License declaration + + ament_cmake + + rm_auto_aim + rm_serial_driver + + + ament_cmake + + diff --git a/src/rm_vision/ros2-hik-camera/.clang-format b/src/rm_vision/ros2-hik-camera/.clang-format new file mode 100644 index 0000000..2f8d64b --- /dev/null +++ b/src/rm_vision/ros2-hik-camera/.clang-format @@ -0,0 +1,18 @@ +--- +Language: Cpp +BasedOnStyle: Google + +AccessModifierOffset: -2 +AlignAfterOpenBracket: AlwaysBreak +BraceWrapping: + AfterClass: true + AfterFunction: true + AfterNamespace: true + AfterStruct: true +BreakBeforeBraces: Custom +ColumnLimit: 100 +ConstructorInitializerIndentWidth: 0 +ContinuationIndentWidth: 2 +DerivePointerAlignment: false +PointerAlignment: Middle +ReflowComments: false \ No newline at end of file diff --git a/src/rm_vision/ros2-hik-camera/.clang-tidy b/src/rm_vision/ros2-hik-camera/.clang-tidy new file mode 100644 index 0000000..bf3d848 --- /dev/null +++ b/src/rm_vision/ros2-hik-camera/.clang-tidy @@ -0,0 +1,55 @@ +--- +Checks: '-*, + performance-*, + -performance-unnecessary-value-param, + llvm-namespace-comment, + modernize-redundant-void-arg, + modernize-use-nullptr, + modernize-use-default, + modernize-use-override, + modernize-loop-convert, + modernize-make-shared, + modernize-make-unique, + misc-unused-parameters, + readability-named-parameter, + readability-redundant-smartptr-get, + readability-redundant-string-cstr, + readability-simplify-boolean-expr, + readability-container-size-empty, + readability-identifier-naming, + ' +HeaderFilterRegex: '' +AnalyzeTemporaryDtors: false +CheckOptions: + - key: llvm-namespace-comment.ShortNamespaceLines + value: '10' + - key: llvm-namespace-comment.SpacesBeforeComments + value: '2' + - key: misc-unused-parameters.StrictMode + value: '1' + - key: readability-braces-around-statements.ShortStatementLines + value: '2' + # type names + - key: readability-identifier-naming.ClassCase + value: CamelCase + - key: readability-identifier-naming.EnumCase + value: CamelCase + - key: readability-identifier-naming.UnionCase + value: CamelCase + # method names + - key: readability-identifier-naming.MethodCase + value: camelBack + # variable names + - key: readability-identifier-naming.VariableCase + value: lower_case + - key: readability-identifier-naming.ClassMemberSuffix + value: '_' + # const static or global variables are UPPER_CASE + - key: readability-identifier-naming.EnumConstantCase + value: UPPER_CASE + - key: readability-identifier-naming.StaticConstantCase + value: UPPER_CASE + - key: readability-identifier-naming.ClassConstantCase + value: UPPER_CASE + - key: readability-identifier-naming.GlobalVariableCase + value: UPPER_CASE \ No newline at end of file diff --git a/src/rm_vision/ros2-hik-camera/CMakeLists.txt b/src/rm_vision/ros2-hik-camera/CMakeLists.txt new file mode 100644 index 0000000..a142fdb --- /dev/null +++ b/src/rm_vision/ros2-hik-camera/CMakeLists.txt @@ -0,0 +1,67 @@ +cmake_minimum_required(VERSION 3.8) +project(hik_camera) + +## Use C++14 +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +## By adding -Wall and -Werror, the compiler does not ignore warnings anymore, +## enforcing cleaner code. +add_definitions(-Wall -Werror) + +## Export compile commands for clangd +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/hik_camera_node.cpp +) + +target_include_directories(${PROJECT_NAME} PUBLIC hikSDK/include) + +if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64") + target_link_directories(${PROJECT_NAME} PUBLIC hikSDK/lib/amd64) + install( + DIRECTORY hikSDK/lib/amd64/ + DESTINATION lib + ) +elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64") + target_link_directories(${PROJECT_NAME} PUBLIC hikSDK/lib/arm64) + install( + DIRECTORY hikSDK/lib/arm64/ + DESTINATION lib + ) +else() + message(FATAL_ERROR "Unsupport host system architecture: ${CMAKE_HOST_SYSTEM_PROCESSOR}!") +endif() + +target_link_libraries(${PROJECT_NAME} + FormatConversion + MediaProcess + MvCameraControl + MVRender + MvUsb3vTL +) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN hik_camera::HikCameraNode + EXECUTABLE ${PROJECT_NAME}_node +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + list(APPEND AMENT_LINT_AUTO_EXCLUDE + ament_cmake_copyright + ament_cmake_cpplint + ament_cmake_uncrustify + ) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package( + INSTALL_TO_SHARE + config + launch +) diff --git a/src/rm_vision/ros2-hik-camera/README.md b/src/rm_vision/ros2-hik-camera/README.md new file mode 100644 index 0000000..b913395 --- /dev/null +++ b/src/rm_vision/ros2-hik-camera/README.md @@ -0,0 +1,14 @@ +# ros2_hik_camera + +A ROS2 packge for Hikvision USB3.0 industrial camera + +## Usage + +``` +ros2 launch hik_camera hik_camera.launch.py +``` + +## Params + +- exposure_time +- gain diff --git a/src/rm_vision/ros2-hik-camera/config/camera_info.yaml b/src/rm_vision/ros2-hik-camera/config/camera_info.yaml new file mode 100644 index 0000000..0f509df --- /dev/null +++ b/src/rm_vision/ros2-hik-camera/config/camera_info.yaml @@ -0,0 +1,20 @@ +image_width: 640 +image_height: 480 +camera_name: narrow_stereo +camera_matrix: + rows: 3 + cols: 3 + data: [1320.127401, 0.000000, 609.902940, 0.000000, 1329.050651, 457.308236, 0.000000, 0.000000, 1.000000] +distortion_model: plumb_bob +distortion_coefficients: + rows: 1 + cols: 5 + data: [-0.034135, 0.131210, -0.015866, -0.004433, 0.000000] +rectification_matrix: + rows: 3 + cols: 3 + data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000] +projection_matrix: + rows: 3 + cols: 4 + data: [1337.148438, 0.000000, 605.640265, 0.000000, 0.000000, 1333.494019, 444.618912, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000] diff --git a/src/rm_vision/ros2-hik-camera/config/camera_params.yaml b/src/rm_vision/ros2-hik-camera/config/camera_params.yaml new file mode 100644 index 0000000..5fc50d4 --- /dev/null +++ b/src/rm_vision/ros2-hik-camera/config/camera_params.yaml @@ -0,0 +1,18 @@ +/hik_camera: + ros__parameters: + camera_name: narrow_stereo + + exposure_time: 6000 + gain: 32.0 + +/left_camera/left_camera: + ros__parameters: + camera_name: narrow_stereo + exposure_time: 6000 + gain: 32.0 + +/right_camera/right_camera: + ros__parameters: + camera_name: narrow_stereo + exposure_time: 6000 + gain: 32.0 \ No newline at end of file diff --git a/src/rm_vision/ros2-hik-camera/config/cameras_params.yaml b/src/rm_vision/ros2-hik-camera/config/cameras_params.yaml new file mode 100644 index 0000000..56d480b --- /dev/null +++ b/src/rm_vision/ros2-hik-camera/config/cameras_params.yaml @@ -0,0 +1,18 @@ +/hik_camera: + ros__parameters: + camera_name: narrow_stereo + + exposure_time: 6000 + gain: 32.0 + +/left_camera/left_camera: + ros__parameters: + camera_name: narrow_stereo + exposure_time: 2500 + gain: 8.0 + +/right_camera/right_camera: + ros__parameters: + camera_name: narrow_stereo + exposure_time: 2500 + gain: 8.0 \ No newline at end of file diff --git a/src/rm_vision/ros2-hik-camera/config/left_camera_params.yaml b/src/rm_vision/ros2-hik-camera/config/left_camera_params.yaml new file mode 100644 index 0000000..89675e7 --- /dev/null +++ b/src/rm_vision/ros2-hik-camera/config/left_camera_params.yaml @@ -0,0 +1,5 @@ +left_camera: + ros__parameters: + camera_name: left_camera + exposure_time: 5000 + gain: 8.0 \ No newline at end of file diff --git a/src/rm_vision/ros2-hik-camera/config/right_camera_params.yaml b/src/rm_vision/ros2-hik-camera/config/right_camera_params.yaml new file mode 100644 index 0000000..6ae2bee --- /dev/null +++ b/src/rm_vision/ros2-hik-camera/config/right_camera_params.yaml @@ -0,0 +1,5 @@ +right_camera: + ros__parameters: + camera_name: right_camera + exposure_time: 5000 + gain: 8.0 \ No newline at end of file diff --git a/src/rm_vision/ros2-hik-camera/config/two_cameras.yaml b/src/rm_vision/ros2-hik-camera/config/two_cameras.yaml new file mode 100644 index 0000000..d0defc4 --- /dev/null +++ b/src/rm_vision/ros2-hik-camera/config/two_cameras.yaml @@ -0,0 +1,11 @@ +left_camera: + ros__parameters: + camera_name: left_camera + exposure_time: 6000 + gain: 32.0 + +right_camera: + ros__parameters: + camera_name: right_camera + exposure_time: 6000 + gain: 32.0 \ No newline at end of file diff --git a/src/rm_vision/ros2-hik-camera/hikSDK/include/CameraParams.h b/src/rm_vision/ros2-hik-camera/hikSDK/include/CameraParams.h new file mode 100644 index 0000000..e4b1428 --- /dev/null +++ b/src/rm_vision/ros2-hik-camera/hikSDK/include/CameraParams.h @@ -0,0 +1,1081 @@ + +#ifndef _MV_CAMERA_PARAMS_H_ +#define _MV_CAMERA_PARAMS_H_ + +#include "PixelType.h" + +#ifndef __cplusplus +typedef char bool; +#define true 1 +#define false 0 +#endif + +/// \~chinese +/// 设备类型定义 +/// \~english +/// Device Type Definition +#define MV_UNKNOW_DEVICE 0x00000000 ///< \~chinese 未知设备类型，保留意义 \~english Unknown Device Type, Reserved +#define MV_GIGE_DEVICE 0x00000001 ///< \~chinese GigE设备 \~english GigE Device +#define MV_1394_DEVICE 0x00000002 ///< \~chinese 1394-a/b 设备 \~english 1394-a/b Device +#define MV_USB_DEVICE 0x00000004 ///< \~chinese USB 设备 \~english USB Device +#define MV_CAMERALINK_DEVICE 0x00000008 ///< \~chinese CamLink设备 \~english CamLink Device + +/// \~chinese GigE设备信息 \~english GigE device info +typedef struct _MV_GIGE_DEVICE_INFO_ +{ + unsigned int nIpCfgOption; + unsigned int nIpCfgCurrent; ///< \~chinese \~english IP configuration:bit31-static bit30-dhcp bit29-lla + unsigned int nCurrentIp; + unsigned int nCurrentSubNetMask; ///< \~chinese \~english curtent subnet mask + unsigned int nDefultGateWay; ///< \~chinese \~english current gateway + unsigned char chManufacturerName[32]; + unsigned char chModelName[32]; + unsigned char chDeviceVersion[32]; + unsigned char chManufacturerSpecificInfo[48]; + unsigned char chSerialNumber[16]; + unsigned char chUserDefinedName[16]; + unsigned int nNetExport; ///< \~chinese 网口IP地址 \~english NetWork IP Address + + unsigned int nReserved[4]; +}MV_GIGE_DEVICE_INFO; + +#define INFO_MAX_BUFFER_SIZE 64 + +/// \~chinese USB设备信息 \~english USB device info +typedef struct _MV_USB3_DEVICE_INFO_ +{ + unsigned char CrtlInEndPoint; ///< \~chinese 控制输入端点 \~english Control input endpoint + unsigned char CrtlOutEndPoint; ///< \~chinese 控制输出端点 \~english Control output endpoint + unsigned char StreamEndPoint; ///< \~chinese 流端点 \~english Flow endpoint + unsigned char EventEndPoint; ///< \~chinese 事件端点 \~english Event endpoint + unsigned short idVendor; ///< \~chinese 供应商ID号 \~english Vendor ID Number + unsigned short idProduct; ///< \~chinese 产品ID号 \~english Device ID Number + unsigned int nDeviceNumber; ///< \~chinese 设备序列号 \~english Device Serial Number + unsigned char chDeviceGUID[INFO_MAX_BUFFER_SIZE]; ///< \~chinese 设备GUID号 \~english Device GUID Number + unsigned char chVendorName[INFO_MAX_BUFFER_SIZE]; ///< \~chinese 供应商名字 \~english Vendor Name + unsigned char chModelName[INFO_MAX_BUFFER_SIZE]; ///< \~chinese 型号名字 \~english Model Name + unsigned char chFamilyName[INFO_MAX_BUFFER_SIZE]; ///< \~chinese 家族名字 \~english Family Name + unsigned char chDeviceVersion[INFO_MAX_BUFFER_SIZE]; ///< \~chinese 设备版本号 \~english Device Version + unsigned char chManufacturerName[INFO_MAX_BUFFER_SIZE]; ///< \~chinese 制造商名字 \~english Manufacturer Name + unsigned char chSerialNumber[INFO_MAX_BUFFER_SIZE]; ///< \~chinese 序列号 \~english Serial Number + unsigned char chUserDefinedName[INFO_MAX_BUFFER_SIZE]; ///< \~chinese 用户自定义名字 \~english User Defined Name + unsigned int nbcdUSB; ///< \~chinese 支持的USB协议 \~english Support USB Protocol + + unsigned int nReserved[3]; ///< \~chinese 保留字节 \~english Reserved bytes +}MV_USB3_DEVICE_INFO; + +/// \~chinese +/// \brief CamLink设备信息 +/// \~english +/// \brief CamLink device info +typedef struct _MV_CamL_DEV_INFO_ +{ + unsigned char chPortID[INFO_MAX_BUFFER_SIZE]; + unsigned char chModelName[INFO_MAX_BUFFER_SIZE]; + unsigned char chFamilyName[INFO_MAX_BUFFER_SIZE]; + unsigned char chDeviceVersion[INFO_MAX_BUFFER_SIZE]; + unsigned char chManufacturerName[INFO_MAX_BUFFER_SIZE]; + unsigned char chSerialNumber[INFO_MAX_BUFFER_SIZE]; + + unsigned int nReserved[38]; +}MV_CamL_DEV_INFO; + +/// \~chinese +/// \brief 设备信息 +/// \~english +/// \brief Device info +typedef struct _MV_CC_DEVICE_INFO_ +{ + unsigned short nMajorVer; + unsigned short nMinorVer; + unsigned int nMacAddrHigh; ///< \~chinese MAC 地址\~english MAC Address + unsigned int nMacAddrLow; + + unsigned int nTLayerType; ///< \~chinese 设备传输层协议类型，e.g. MV_GIGE_DEVICE\~english Device Transport Layer Protocol Type, e.g. MV_GIGE_DEVICE + + unsigned int nReserved[4]; + + union + { + MV_GIGE_DEVICE_INFO stGigEInfo; + MV_USB3_DEVICE_INFO stUsb3VInfo; + MV_CamL_DEV_INFO stCamLInfo; + // more ... + }SpecialInfo; + +}MV_CC_DEVICE_INFO; + +/// \~chinese 网络传输的相关信息\~english Network transmission information +typedef struct _MV_NETTRANS_INFO_ +{ + int64_t nReviceDataSize; ///< \~chinese 已接收数据大小 [统计StartGrabbing和StopGrabbing之间的数据量]\~english Received Data Size [Calculate the Data Size between StartGrabbing and StopGrabbing] + int nThrowFrameCount; ///< \~chinese 丢帧数量\~english Throw frame number + unsigned int nNetRecvFrameCount; + int64_t nRequestResendPacketCount; ///< \~chinese 请求重发包数 + int64_t nResendPacketCount; ///< \~chinese 重发包数 + +}MV_NETTRANS_INFO; + +#define MV_MAX_TLS_NUM 8 ///< \~chinese 最多支持的传输层实例个数\~english The maximum number of supported transport layer instances +#define MV_MAX_DEVICE_NUM 256 ///< \~chinese 最大支持的设备个数\~english The maximum number of supported devices + +/// \~chinese +/// \brief 设备信息列表 +/// \~english +/// \brief Device Information List +typedef struct _MV_CC_DEVICE_INFO_LIST_ +{ + unsigned int nDeviceNum; ///< \~chinese 在线设备数量\~english Online Device Number + MV_CC_DEVICE_INFO* pDeviceInfo[MV_MAX_DEVICE_NUM]; ///< \~chinese 支持最多256个设备\~english Support up to 256 devices + +}MV_CC_DEVICE_INFO_LIST; + + +/// \~chinese Chunk内容 \~english The content of ChunkData +typedef struct _MV_CHUNK_DATA_CONTENT_ +{ + unsigned char* pChunkData; + unsigned int nChunkID; + unsigned int nChunkLen; + + unsigned int nReserved[8]; // 保留 + +}MV_CHUNK_DATA_CONTENT; + +/// \~chinese 输出帧的信息\~english Output Frame Information +typedef struct _MV_FRAME_OUT_INFO_ +{ + unsigned short nWidth; ///< \~chinese 图像宽 \~english Image Width + unsigned short nHeight; ///< \~chinese 图像高 \~english Image Height + enum MvGvspPixelType enPixelType; ///< \~chinese 像素格式 \~english Pixel Type + + unsigned int nFrameNum; ///< \~chinese 帧号 \~english Frame Number + unsigned int nDevTimeStampHigh; ///< \~chinese 时间戳高32位\~english Timestamp high 32 bits + unsigned int nDevTimeStampLow; ///< \~chinese 时间戳低32位\~english Timestamp low 32 bits + unsigned int nReserved0; ///< \~chinese 保留，8字节对齐\~english Reserved, 8-byte aligned + int64_t nHostTimeStamp; ///< \~chinese 主机生成的时间戳\~english Host-generated timestamp + + unsigned int nFrameLen; + + unsigned int nLostPacket; ///< \~chinese 本帧丢包数\~english Lost Pacekt Number In This Frame + unsigned int nReserved[2]; +}MV_FRAME_OUT_INFO; + +/// \~chinese 输出帧的信息\~english Output Frame Information +typedef struct _MV_FRAME_OUT_INFO_EX_ +{ + unsigned short nWidth; ///< \~chinese 图像宽 \~english Image Width + unsigned short nHeight; ///< \~chinese 图像高 \~english Image Height + enum MvGvspPixelType enPixelType; ///< \~chinese 像素格式 \~english Pixel Type + + unsigned int nFrameNum; ///< \~chinese 帧号 \~english Frame Number + unsigned int nDevTimeStampHigh; ///< \~chinese 时间戳高32位\~english Timestamp high 32 bits + unsigned int nDevTimeStampLow; ///< \~chinese 时间戳低32位\~english Timestamp low 32 bits + unsigned int nReserved0; ///< \~chinese 保留，8字节对齐\~english Reserved, 8-byte aligned + int64_t nHostTimeStamp; ///< \~chinese 主机生成的时间戳\~english Host-generated timestamp + + unsigned int nFrameLen; + + /// \~chinese 设备水印时标\~english Device frame-specific time scale + unsigned int nSecondCount; + unsigned int nCycleCount; + unsigned int nCycleOffset; + + float fGain; + float fExposureTime; + unsigned int nAverageBrightness; ///< \~chinese 平均亮度\~english Average brightness + + /// \~chinese 白平衡相关\~english White balance + unsigned int nRed; + unsigned int nGreen; + unsigned int nBlue; + + unsigned int nFrameCounter; + unsigned int nTriggerIndex; ///< \~chinese 触发计数\~english Trigger Counting + + unsigned int nInput; ///< \~chinese 输入\~english Input + unsigned int nOutput; ///< \~chinese 输出\~english Output + + /// \~chinese ROI区域\~english ROI Region + unsigned short nOffsetX; + unsigned short nOffsetY; + unsigned short nChunkWidth; + unsigned short nChunkHeight; + + unsigned int nLostPacket; ///< \~chinese 本帧丢包数\~english Lost Pacekt Number In This Frame + + unsigned int nUnparsedChunkNum;///< \~chinese 未解析的Chunkdata个数 + union + { + MV_CHUNK_DATA_CONTENT* pUnparsedChunkContent; + int64_t nAligning; + }UnparsedChunkList; + + unsigned int nReserved[36]; // 保留 +}MV_FRAME_OUT_INFO_EX; + +/// \~chinese 图像结构体，输出图像指针地址及图像信息\~english Image Struct, output the pointer of Image and the information of the specific image +typedef struct _MV_FRAME_OUT_ +{ + unsigned char* pBufAddr; ///< \~chinese 图像指针地址\~english pointer of image + MV_FRAME_OUT_INFO_EX stFrameInfo; ///< \~chinese 图像信息\~english information of the specific image + + unsigned int nRes[16]; ///< \~chinese 保留\~english reserved +}MV_FRAME_OUT; + + +typedef struct _MV_DISPLAY_FRAME_INFO_ +{ + void* hWnd; ///< \~chinese 窗口句柄\~english HWND + unsigned char* pData; ///< \~chinese 显示的数据\~english Data Buffer + unsigned int nDataLen; ///< \~chinese 数据长度\~english Data Size + unsigned short nWidth; ///< \~chinese 图像宽\~english Width + unsigned short nHeight; ///< \~chinese 图像高\~english Height + enum MvGvspPixelType enPixelType; ///< \~chinese 像素格式\~english Pixel format + unsigned int nRes[4]; + +}MV_DISPLAY_FRAME_INFO; + +/// \~chinese 保存图片格式\~english Save image type +enum MV_SAVE_IAMGE_TYPE +{ + MV_Image_Undefined = 0, + MV_Image_Bmp = 1, + MV_Image_Jpeg = 2, + MV_Image_Png = 3, + MV_Image_Tif = 4, +}; + +/// \~chinese 图片保存参数\~english Save Image Parameters +typedef struct _MV_SAVE_IMAGE_PARAM_T_ +{ + unsigned char* pData; ///< [IN] \~chinese 输入数据缓存\~english Input Data Buffer + unsigned int nDataLen; ///< [IN] \~chinese 输入数据大小\~english Input Data Size + enum MvGvspPixelType enPixelType; ///< [IN] \~chinese 输入数据的像素格式\~english Input Data Pixel Format + unsigned short nWidth; ///< [IN] \~chinese 图像宽\~english Image Width + unsigned short nHeight; ///< [IN] \~chinese 图像高\~english Image Height + + unsigned char* pImageBuffer; ///< [OUT] \~chinese 输出图片缓存\~english Output Image Buffer + unsigned int nImageLen; ///< [OUT] \~chinese 输出图片大小\~english Output Image Size + unsigned int nBufferSize; ///< [IN] \~chinese 提供的输出缓冲区大小\~english Output buffer size provided + enum MV_SAVE_IAMGE_TYPE enImageType; ///< [IN] \~chinese 输出图片格式\~english Output Image Format + +}MV_SAVE_IMAGE_PARAM; + +/// \~chinese 图片保存参数\~english Save Image Parameters +typedef struct _MV_SAVE_IMAGE_PARAM_T_EX_ +{ + unsigned char* pData; ///< [IN] \~chinese 输入数据缓存\~english Input Data Buffer + unsigned int nDataLen; ///< [IN] \~chinese 输入数据大小\~english Input Data Size + enum MvGvspPixelType enPixelType; ///< [IN] \~chinese 输入数据的像素格式\~english Input Data Pixel Format + unsigned short nWidth; ///< [IN] \~chinese 图像宽\~english Image Width + unsigned short nHeight; ///< [IN] \~chinese 图像高\~english Image Height + + unsigned char* pImageBuffer; ///< [OUT] \~chinese 输出图片缓存\~english Output Image Buffer + unsigned int nImageLen; ///< [OUT] \~chinese 输出图片大小\~english Output Image Size + unsigned int nBufferSize; ///< [IN] \~chinese 提供的输出缓冲区大小\~english Output buffer size provided + enum MV_SAVE_IAMGE_TYPE enImageType; ///< [IN] \~chinese 输出图片格式\~english Output Image Format + unsigned int nJpgQuality; ///< [IN] \~chinese JPG编码质量(50-99]，其它格式无效\~english Encoding quality(50-99]，Other formats are invalid + + ///< [IN] \~chinese Bayer格式转为RGB24的插值方法 0-最近邻 1-双线性 2-Hamilton （如果传入其它值则默认为最近邻） + ///< [IN] \~english Interpolation method of convert Bayer to RGB24 0-nearest neighbour 1-bilinearity 2-Hamilton + unsigned int iMethodValue; + unsigned int nReserved[3]; + +}MV_SAVE_IMAGE_PARAM_EX; + +/// \~chinese 旋转角度 \~english Rotation angle +typedef enum _MV_IMG_ROTATION_ANGLE_ +{ + MV_IMAGE_ROTATE_90 = 1, + MV_IMAGE_ROTATE_180 = 2, + MV_IMAGE_ROTATE_270 = 3, + +}MV_IMG_ROTATION_ANGLE; + +/// \~chinese 图像旋转结构体 \~english Rotate image structure +typedef struct _MV_CC_ROTATE_IMAGE_PARAM_T_ +{ + enum MvGvspPixelType enPixelType; ///< [IN] \~chinese 像素格式 \~english Pixel format + unsigned int nWidth; ///< [IN][OUT] \~chinese 图像宽 \~english Width + unsigned int nHeight; ///< [IN][OUT] \~chinese 图像高 \~english Height + + unsigned char* pSrcData; ///< [IN] \~chinese 输入数据缓存 \~english Input data buffer + unsigned int nSrcDataLen; ///< [IN] \~chinese 输入数据长度 \~english Input data length + + unsigned char* pDstBuf; ///< [OUT] \~chinese 输出数据缓存 \~english Output data buffer + unsigned int nDstBufLen; ///< [OUT] \~chinese 输出数据长度 \~english Output data length + unsigned int nDstBufSize; ///< [IN] \~chinese 提供的输出缓冲区大小 \~english Provided output buffer size + + MV_IMG_ROTATION_ANGLE enRotationAngle; ///< [IN] \~chinese 旋转角度 \~english Rotation angle + + unsigned int nRes[8]; ///< \~chinese 预留 \~english Reserved + +}MV_CC_ROTATE_IMAGE_PARAM; + +/// \~chinese 翻转类型 \~english Flip type +typedef enum _MV_IMG_FLIP_TYPE_ +{ + MV_FLIP_VERTICAL = 1, + MV_FLIP_HORIZONTAL = 2, + +}MV_IMG_FLIP_TYPE; + +/// \~chinese 图像翻转结构体 \~english Flip image structure +typedef struct _MV_CC_FLIP_IMAGE_PARAM_T_ +{ + enum MvGvspPixelType enPixelType; ///< [IN] \~chinese 像素格式 \~english Pixel format + unsigned int nWidth; ///< [IN] \~chinese 图像宽 \~english Width + unsigned int nHeight; ///< [IN] \~chinese 图像高 \~english Height + + unsigned char* pSrcData; ///< [IN] \~chinese 输入数据缓存 \~english Input data buffer + unsigned int nSrcDataLen; ///< [IN] \~chinese 输入数据长度 \~english Input data length + + unsigned char* pDstBuf; ///< [OUT] \~chinese 输出数据缓存 \~english Output data buffer + unsigned int nDstBufLen; ///< [OUT] \~chinese 输出数据长度 \~english Output data length + unsigned int nDstBufSize; ///< [IN] \~chinese 提供的输出缓冲区大小 \~english Provided output buffer size + + MV_IMG_FLIP_TYPE enFlipType; ///< [IN] \~chinese 翻转类型 \~english Flip type + + unsigned int nRes[8]; ///< \~chinese 预留 \~english Reserved + +}MV_CC_FLIP_IMAGE_PARAM; + + +/// \~chinese 图像转换结构体 \~english Pixel convert structure +typedef struct _MV_PIXEL_CONVERT_PARAM_T_ +{ + unsigned short nWidth; ///< [IN] \~chinese 图像宽 \~english Width + unsigned short nHeight; ///< [IN] \~chinese 图像高\~english Height + + enum MvGvspPixelType enSrcPixelType; ///< [IN] \~chinese 源像素格式\~english Source pixel format + unsigned char* pSrcData; ///< [IN] \~chinese 输入数据缓存\~english Input data buffer + unsigned int nSrcDataLen; ///< [IN] \~chinese 输入数据大小\~english Input data size + + enum MvGvspPixelType enDstPixelType; ///< [IN] \~chinese 目标像素格式\~english Destination pixel format + unsigned char* pDstBuffer; ///< [OUT] \~chinese 输出数据缓存\~english Output data buffer + unsigned int nDstLen; ///< [OUT] \~chinese 输出数据大小\~english Output data size + unsigned int nDstBufferSize; ///< [IN] \~chinese 提供的输出缓冲区大小\~english Provided outbut buffer size + + unsigned int nRes[4]; +}MV_CC_PIXEL_CONVERT_PARAM; + +/// \~chinese Gamma类型 \~english Gamma type +typedef enum _MV_CC_GAMMA_TYPE_ +{ + MV_CC_GAMMA_TYPE_NONE = 0, ///< \~chinese 不启用 \~english Disable + MV_CC_GAMMA_TYPE_VALUE = 1, ///< \~chinese Gamma值 \~english Gamma value + MV_CC_GAMMA_TYPE_USER_CURVE = 2, ///< \~chinese Gamma曲线 \~english Gamma curve + ///< \~chinese 长度：256*sizeof(unsigned char) \~english 8bit,length:256*sizeof(unsigned char) + MV_CC_GAMMA_TYPE_LRGB2SRGB = 3, ///< \~chinese linear RGB to sRGB \~english linear RGB to sRGB + MV_CC_GAMMA_TYPE_SRGB2LRGB = 4, ///< \~chinese sRGB to linear RGB(仅色彩插值时支持，色彩校正时无效) \~english sRGB to linear RGB + +}MV_CC_GAMMA_TYPE; + +// Gamma信息 +/// \~chinese Gamma信息结构体 \~english Gamma info structure +typedef struct _MV_CC_GAMMA_PARAM_T_ +{ + MV_CC_GAMMA_TYPE enGammaType; ///< [IN] \~chinese Gamma类型 \~english Gamma type + float fGammaValue; ///< [IN] \~chinese Gamma值[0.1,4.0] \~english Gamma value[0.1,4.0] + unsigned char* pGammaCurveBuf; ///< [IN] \~chinese Gamma曲线缓存 \~english Gamma curve buffer + unsigned int nGammaCurveBufLen; ///< [IN] \~chinese Gamma曲线长度 \~english Gamma curve buffer size + + unsigned int nRes[8]; ///< \~chinese 预留 \~english Reserved + +}MV_CC_GAMMA_PARAM; + +/// \~chinese 水印信息 \~english Frame-specific information +typedef struct _MV_CC_FRAME_SPEC_INFO_ +{ + /// \~chinese 设备水印时标 \~english Device frame-specific time scale + unsigned int nSecondCount; ///< [OUT] \~chinese 秒数 \~english The Seconds + unsigned int nCycleCount; ///< [OUT] \~chinese 周期数 \~english The Count of Cycle + unsigned int nCycleOffset; ///< [OUT] \~chinese 周期偏移量 \~english The Offset of Cycle + + float fGain; ///< [OUT] \~chinese 增益 \~english Gain + float fExposureTime; ///< [OUT] \~chinese 曝光时间 \~english Exposure Time + unsigned int nAverageBrightness; ///< [OUT] \~chinese 平均亮度 \~english Average brightness + + /// \~chinese 白平衡相关 \~english White balance + unsigned int nRed; ///< [OUT] \~chinese 红色 \~english Red + unsigned int nGreen; ///< [OUT] \~chinese 绿色 \~english Green + unsigned int nBlue; ///< [OUT] \~chinese 蓝色 \~english Blue + + unsigned int nFrameCounter; ///< [OUT] \~chinese 总帧数 \~english Frame Counter + unsigned int nTriggerIndex; ///< [OUT] \~chinese 触发计数 \~english Trigger Counting + + unsigned int nInput; ///< [OUT] \~chinese 输入 \~english Input + unsigned int nOutput; ///< [OUT] \~chinese 输出 \~english Output + + /// \~chinese ROI区域 \~english ROI Region + unsigned short nOffsetX; ///< [OUT] \~chinese 水平偏移量 \~english OffsetX + unsigned short nOffsetY; ///< [OUT] \~chinese 垂直偏移量 \~english OffsetY + unsigned short nFrameWidth; ///< [OUT] \~chinese 水印宽 \~english The Width of Chunk + unsigned short nFrameHeight; ///< [OUT] \~chinese 水印高 \~english The Height of Chunk + + unsigned int nReserved[16]; ///< \~chinese 预留 \~english Reserved + +}MV_CC_FRAME_SPEC_INFO; + +/// \~chinese 无损解码参数 \~english High Bandwidth decode structure +typedef struct _MV_CC_HB_DECODE_PARAM_T_ +{ + unsigned char* pSrcBuf; ///< [IN] \~chinese 输入数据缓存 \~english Input data buffer + unsigned int nSrcLen; ///< [IN] \~chinese 输入数据大小 \~english Input data size + + unsigned int nWidth; ///< [OUT] \~chinese 图像宽 \~english Width + unsigned int nHeight; ///< [OUT] \~chinese 图像高 \~english Height + unsigned char* pDstBuf; ///< [OUT] \~chinese 输出数据缓存 \~english Output data buffer + unsigned int nDstBufSize; ///< [IN] \~chinese 提供的输出缓冲区大小 \~english Provided output buffer size + unsigned int nDstBufLen; ///< [OUT] \~chinese 输出数据大小 \~english Output data size + enum MvGvspPixelType enDstPixelType; ///< [OUT] \~chinese 输出的像素格式 \~english Output pixel format + + MV_CC_FRAME_SPEC_INFO stFrameSpecInfo; ///< [OUT] \~chinese 水印信息 \~english Frame Spec Info + + unsigned int nRes[8]; ///< \~chinese 预留 \~english Reserved + +}MV_CC_HB_DECODE_PARAM; + +/// \~chinese 录像格式定义\~english Record Format Type +typedef enum _MV_RECORD_FORMAT_TYPE_ +{ + MV_FormatType_Undefined = 0, + MV_FormatType_AVI = 1, + +}MV_RECORD_FORMAT_TYPE; + +/// \~chinese 录像参数\~english Record Parameters +typedef struct _MV_CC_RECORD_PARAM_T_ +{ + enum MvGvspPixelType enPixelType; ///< [IN] \~chinese 输入数据的像素格式 + + unsigned short nWidth; ///< [IN] \~chinese 图像宽(指定目标参数时需为2的倍数) + unsigned short nHeight; ///< [IN] \~chinese 图像高(指定目标参数时需为2的倍数) + + float fFrameRate; ///< [IN] \~chinese 帧率fps(1/16-120) + unsigned int nBitRate; ///< [IN] \~chinese 码率kbps(128kbps-16Mbps) + + MV_RECORD_FORMAT_TYPE enRecordFmtType; ///< [IN] \~chinese 录像格式 + + char* strFilePath; ///< [IN] \~chinese 录像文件存放路径(如果路径中存在中文，需转成utf-8) + + unsigned int nRes[8]; + +}MV_CC_RECORD_PARAM; + +/// \~chinese 录像数据\~english Record Data +typedef struct _MV_CC_INPUT_FRAME_INFO_T_ +{ + unsigned char* pData; ///< [IN] \~chinese 图像数据指针 + unsigned int nDataLen; ///< [IN] \~chinese 图像大小 + + unsigned int nRes[8]; + +}MV_CC_INPUT_FRAME_INFO; + +/// \~chinese 采集模式\~english Acquisition mode +typedef enum _MV_CAM_ACQUISITION_MODE_ +{ + MV_ACQ_MODE_SINGLE = 0, ///< \~chinese 单帧模式\~english Single Mode + MV_ACQ_MODE_MUTLI = 1, ///< \~chinese 多帧模式\~english Multi Mode + MV_ACQ_MODE_CONTINUOUS = 2, ///< \~chinese 持续采集模式\~english Continuous Mode + +}MV_CAM_ACQUISITION_MODE; + +/// \~chinese 增益模式\~english Gain Mode +typedef enum _MV_CAM_GAIN_MODE_ +{ + MV_GAIN_MODE_OFF = 0, ///< \~chinese 关闭\~english Single Mode + MV_GAIN_MODE_ONCE = 1, ///< \~chinese 一次\~english Multi Mode + MV_GAIN_MODE_CONTINUOUS = 2, ///< \~chinese 连续\~english Continuous Mode + +}MV_CAM_GAIN_MODE; + +/// \~chinese 曝光模式\~english Exposure Mode +typedef enum _MV_CAM_EXPOSURE_MODE_ +{ + MV_EXPOSURE_MODE_TIMED = 0, ///< Timed + MV_EXPOSURE_MODE_TRIGGER_WIDTH = 1, ///< TriggerWidth +}MV_CAM_EXPOSURE_MODE; + +/// \~chinese 自动曝光模式 \~english Auto Exposure Mode +typedef enum _MV_CAM_EXPOSURE_AUTO_MODE_ +{ + MV_EXPOSURE_AUTO_MODE_OFF = 0, ///< \~chinese 关闭\~english Off + MV_EXPOSURE_AUTO_MODE_ONCE = 1, ///< \~chinese 一次\~english Once + MV_EXPOSURE_AUTO_MODE_CONTINUOUS = 2, ///< \~chinese 连续\~english Continuous + +}MV_CAM_EXPOSURE_AUTO_MODE; + +/// \~chinese 触发模式 \~english Trigger Mode +typedef enum _MV_CAM_TRIGGER_MODE_ +{ + MV_TRIGGER_MODE_OFF = 0, ///< \~chinese 关闭\~english Off + MV_TRIGGER_MODE_ON = 1, ///< \~chinese 打开\~english ON + +}MV_CAM_TRIGGER_MODE; + +typedef enum _MV_CAM_GAMMA_SELECTOR_ +{ + MV_GAMMA_SELECTOR_USER = 1, + MV_GAMMA_SELECTOR_SRGB = 2, + +}MV_CAM_GAMMA_SELECTOR; + +typedef enum _MV_CAM_BALANCEWHITE_AUTO_ +{ + MV_BALANCEWHITE_AUTO_OFF = 0, + MV_BALANCEWHITE_AUTO_ONCE = 2, + MV_BALANCEWHITE_AUTO_CONTINUOUS = 1, ///< \~chinese 连续\~english Continuous + +}MV_CAM_BALANCEWHITE_AUTO; + +typedef enum _MV_CAM_TRIGGER_SOURCE_ +{ + MV_TRIGGER_SOURCE_LINE0 = 0, + MV_TRIGGER_SOURCE_LINE1 = 1, + MV_TRIGGER_SOURCE_LINE2 = 2, + MV_TRIGGER_SOURCE_LINE3 = 3, + MV_TRIGGER_SOURCE_COUNTER0 = 4, + + MV_TRIGGER_SOURCE_SOFTWARE = 7, + MV_TRIGGER_SOURCE_FrequencyConverter= 8, + +}MV_CAM_TRIGGER_SOURCE; + +typedef enum _MV_GIGE_TRANSMISSION_TYPE_ +{ + MV_GIGE_TRANSTYPE_UNICAST = 0x0, ///< \~chinese 表示单播(默认)\~english Unicast mode + MV_GIGE_TRANSTYPE_MULTICAST = 0x1, ///< \~chinese 表示组播\~english Multicast mode + MV_GIGE_TRANSTYPE_LIMITEDBROADCAST = 0x2, ///< \~chinese 表示局域网内广播，暂不支持\~english Limited broadcast mode,not support + MV_GIGE_TRANSTYPE_SUBNETBROADCAST = 0x3, ///< \~chinese 表示子网内广播，暂不支持\~english Subnet broadcast mode,not support + MV_GIGE_TRANSTYPE_CAMERADEFINED = 0x4, ///< \~chinese 表示从相机获取，暂不支持\~english Transtype from camera,not support + MV_GIGE_TRANSTYPE_UNICAST_DEFINED_PORT = 0x5, ///< \~chinese 表示用户自定义应用端接收图像数据Port号\~english User Defined Receive Data Port + MV_GIGE_TRANSTYPE_UNICAST_WITHOUT_RECV = 0x00010000, ///< \~chinese 表示设置了单播，但本实例不接收图像数据\~english Unicast without receive data + MV_GIGE_TRANSTYPE_MULTICAST_WITHOUT_RECV = 0x00010001, ///< \~chinese 表示组播模式，但本实例不接收图像数据\~english Multicast without receive data +}MV_GIGE_TRANSMISSION_TYPE; +// GigEVision IP Configuration +#define MV_IP_CFG_STATIC 0x05000000 +#define MV_IP_CFG_DHCP 0x06000000 +#define MV_IP_CFG_LLA 0x04000000 + +// GigEVision Net Transfer Mode +#define MV_NET_TRANS_DRIVER 0x00000001 +#define MV_NET_TRANS_SOCKET 0x00000002 + +// CameraLink Baud Rates (CLUINT32) +#define MV_CAML_BAUDRATE_9600 0x00000001 +#define MV_CAML_BAUDRATE_19200 0x00000002 +#define MV_CAML_BAUDRATE_38400 0x00000004 +#define MV_CAML_BAUDRATE_57600 0x00000008 +#define MV_CAML_BAUDRATE_115200 0x00000010 +#define MV_CAML_BAUDRATE_230400 0x00000020 +#define MV_CAML_BAUDRATE_460800 0x00000040 +#define MV_CAML_BAUDRATE_921600 0x00000080 +#define MV_CAML_BAUDRATE_AUTOMAX 0x40000000 + +/// \~chinese 信息类型\~english Information Type +#define MV_MATCH_TYPE_NET_DETECT 0x00000001 ///< \~chinese 网络流量和丢包信息\~english Network traffic and packet loss information +#define MV_MATCH_TYPE_USB_DETECT 0x00000002 ///< \~chinese host接收到来自U3V设备的字节总数\~english The total number of bytes host received from U3V device + +/// \~chinese 某个节点对应的子节点个数最大值\~english The maximum number of child nodes corresponding to a node +#define MV_MAX_XML_NODE_NUM_C 128 + +/// \~chinese 节点名称字符串最大长度\~english The maximum length of node name string +#define MV_MAX_XML_NODE_STRLEN_C 64 + +/// \~chinese 节点String值最大长度\~english The maximum length of Node String +#define MV_MAX_XML_STRVALUE_STRLEN_C 64 + +/// \~chinese 节点描述字段最大长度\~english The maximum length of the node description field +#define MV_MAX_XML_DISC_STRLEN_C 512 + +/// \~chinese 最多的单元数\~englishThe maximum number of units +#define MV_MAX_XML_ENTRY_NUM 10 + +/// \~chinese 父节点个数上限\~english The maximum number of parent nodes +#define MV_MAX_XML_PARENTS_NUM 8 + +/// \~chinese 每个已经实现单元的名称长度\~english The length of the name of each unit that has been implemented +#define MV_MAX_XML_SYMBOLIC_STRLEN_C 64 + +#define MV_MAX_XML_SYMBOLIC_NUM 64 + + +/// \~chinese 全匹配的一种信息结构体\~english A fully matched information structure +typedef struct _MV_ALL_MATCH_INFO_ +{ + unsigned int nType; ///< \~chinese 需要输出的信息类型，e.g. MV_MATCH_TYPE_NET_DETECT\~english Information type need to output ,e.g. MV_MATCH_TYPE_NET_DETECT + void* pInfo; ///< \~chinese 输出的信息缓存，由调用者分配\~english Output information cache, which is allocated by the caller + unsigned int nInfoSize; ///< \~chinese 信息缓存的大小\~english Information cache size + +}MV_ALL_MATCH_INFO; + + + +/// \~chinese 网络流量和丢包信息反馈结构体，对应类型为 MV_MATCH_TYPE_NET_DETECT +/// \~en:Network traffic and packet loss feedback structure, the corresponding type is MV_MATCH_TYPE_NET_DETECT +typedef struct _MV_MATCH_INFO_NET_DETECT_ +{ + int64_t nReviceDataSize; ///< \~chinese 已接收数据大小 [统计StartGrabbing和StopGrabbing之间的数据量]\~english Received data size + int64_t nLostPacketCount; ///< \~chinese 丢失的包数量\~english Number of packets lost + unsigned int nLostFrameCount; ///< \~chinese 丢帧数量\~english Number of frames lost + unsigned int nNetRecvFrameCount; ///< \~chinese 保留\~english Reserved + int64_t nRequestResendPacketCount; ///< \~chinese 请求重发包数 + int64_t nResendPacketCount; ///< \~chinese 重发包数 +}MV_MATCH_INFO_NET_DETECT; + +/// \~chinese host收到从u3v设备端的总字节数，对应类型为 MV_MATCH_TYPE_USB_DETECT\~english The total number of bytes host received from the u3v device side, the corresponding type is MV_MATCH_TYPE_USB_DETECT +typedef struct _MV_MATCH_INFO_USB_DETECT_ +{ + int64_t nReviceDataSize; ///< \~chinese 已接收数据大小 [统计OpenDevicce和CloseDevice之间的数据量]\~english Received data size + unsigned int nRevicedFrameCount; ///< \~chinese 已收到的帧数\~english Number of frames received + unsigned int nErrorFrameCount; ///< \~chinese 错误帧数\~english Number of error frames + unsigned int nReserved[2]; ///< \~chinese 保留\~english Reserved +}MV_MATCH_INFO_USB_DETECT; + +typedef struct _MV_IMAGE_BASIC_INFO_ +{ + // width + unsigned short nWidthValue; + unsigned short nWidthMin; + unsigned int nWidthMax; + unsigned int nWidthInc; + + // height + unsigned int nHeightValue; + unsigned int nHeightMin; + unsigned int nHeightMax; + unsigned int nHeightInc; + + // framerate + float fFrameRateValue; + float fFrameRateMin; + float fFrameRateMax; + + /// \~chinese 像素格式\~english pixel format + unsigned int enPixelType; ///< \~chinese 当前的像素格式\~english Current pixel format + unsigned int nSupportedPixelFmtNum; ///< \~chinese 支持的像素格式种类\~english Support pixel format + unsigned int enPixelList[MV_MAX_XML_SYMBOLIC_NUM]; + unsigned int nReserved[8]; + +}MV_IMAGE_BASIC_INFO; + +/// \~chinese 异常消息类型\~english Exception message type +#define MV_EXCEPTION_DEV_DISCONNECT 0x00008001 ///< \~chinese 设备断开连接\~english The device is disconnected +#define MV_EXCEPTION_VERSION_CHECK 0x00008002 ///< \~chinese SDK与驱动版本不匹配\~english SDK does not match the driver version +/// \~chinese 设备的访问模式\~english Device Access Mode +/// \~chinese 独占权限，其他APP只允许读CCP寄存器\~english Exclusive authority, other APP is only allowed to read the CCP register +#define MV_ACCESS_Exclusive 1 +/// \~chinese 可以从5模式下抢占权限，然后以独占权限打开\~english You can seize the authority from the 5 mode, and then open with exclusive authority +#define MV_ACCESS_ExclusiveWithSwitch 2 +/// \~chinese 控制权限，其他APP允许读所有寄存器\~english Control authority, allows other APP reading all registers +#define MV_ACCESS_Control 3 +/// \~chinese 可以从5的模式下抢占权限，然后以控制权限打开\~english You can seize the authority from the 5 mode, and then open with control authority +#define MV_ACCESS_ControlWithSwitch 4 +/// \~chinese 以可被抢占的控制权限打开\~english Open with seized control authority +#define MV_ACCESS_ControlSwitchEnable 5 +/// \~chinese 可以从5的模式下抢占权限，然后以可被抢占的控制权限打开\~english You can seize the authority from the 5 mode, and then open with seized control authority +#define MV_ACCESS_ControlSwitchEnableWithKey 6 +/// \~chinese 读模式打开设备，适用于控制权限下\~english Open with read mode and is available under control authority +#define MV_ACCESS_Monitor 7 + + +/************************************************************************/ +/* 封装了GenICam的C接口相关参数定义 */ +/* Package of GenICam C interface-related parameters definition */ +/************************************************************************/ + +/// \~chinese 每个节点对应的接口类型\~english Interface type corresponds to each node +enum MV_XML_InterfaceType +{ + IFT_IValue, //!> IValue interface + IFT_IBase, //!> IBase interface + IFT_IInteger, //!> IInteger interface + IFT_IBoolean, //!> IBoolean interface + IFT_ICommand, //!> ICommand interface + IFT_IFloat, //!> IFloat interface + IFT_IString, //!> IString interface + IFT_IRegister, //!> IRegister interface + IFT_ICategory, //!> ICategory interface + IFT_IEnumeration, //!> IEnumeration interface + IFT_IEnumEntry, //!> IEnumEntry interface + IFT_IPort, //!> IPort interface +}; + +/// \~chinese 节点的访问模式\~english Node Access Mode +enum MV_XML_AccessMode +{ + AM_NI, //!< Not implemented + AM_NA, //!< Not available + AM_WO, //!< Write Only + AM_RO, //!< Read Only + AM_RW, //!< Read and Write + AM_Undefined, //!< Object is not yet initialized + AM_CycleDetect, //!< used internally for AccessMode cycle detection +}; + +/// \~chinese 节点的可见性权限\~english Node Visible Permission +enum MV_XML_Visibility +{ + V_Beginner = 0, //!< Always visible + V_Expert = 1, //!< Visible for experts or Gurus + V_Guru = 2, //!< Visible for Gurus + V_Invisible = 3, //!< Not Visible + V_Undefined = 99 //!< Object is not yet initialized +}; + +/// \~chinese Event事件回调信息\~english Event callback infomation +#define MAX_EVENT_NAME_SIZE 128 // 相机Event事件名称最大长度\~english Max length of event name + +typedef struct _MV_EVENT_OUT_INFO_ +{ + char EventName[MAX_EVENT_NAME_SIZE]; ///< \~chinese Event名称\~english Event name + + unsigned short nEventID; ///< \~chinese Event号\~english Event ID + unsigned short nStreamChannel; ///< \~chinese 流通道序号\~english Circulation number + + unsigned int nBlockIdHigh; ///< \~chinese 帧号高位\~english BlockId high + unsigned int nBlockIdLow; ///< \~chinese 帧号低位\~english BlockId low + + unsigned int nTimestampHigh; ///< \~chinese 时间戳高位\~english Timestramp high + unsigned int nTimestampLow; ///< \~chinese 时间戳低位\~english Timestramp low + + void* pEventData; ///< \~chinese Event数据\~english Event data + unsigned int nEventDataSize; ///< \~chinese Event数据长度\~english Event data len + + unsigned int nReserved[16]; ///< \~chinese 预留\~english Reserved +}MV_EVENT_OUT_INFO; + +/// \~chinese 文件存取\~english File Access +typedef struct _MV_CC_FILE_ACCESS_T +{ + const char* pUserFileName; ///< \~chinese 用户文件名\~english User file name + const char* pDevFileName; ///< \~chinese 设备文件名\~english Device file name + + unsigned int nReserved[32]; ///< \~chinese 预留\~english Reserved +}MV_CC_FILE_ACCESS; + +/// \~chinese 文件存取进度\~english File Access Progress +typedef struct _MV_CC_FILE_ACCESS_PROGRESS_T +{ + int64_t nCompleted; ///< \~chinese 已完成的长度\~english Completed Length + int64_t nTotal; ///< \~chinese 总长度\~english Total Length + + unsigned int nReserved[8]; ///< \~chinese 预留\~english Reserved +}MV_CC_FILE_ACCESS_PROGRESS; + + + +/// \~chinese 传输模式，可以为单播模式、组播模式等\~english Transmission type +typedef struct _MV_TRANSMISSION_TYPE_T +{ + MV_GIGE_TRANSMISSION_TYPE enTransmissionType; ///< \~chinese 传输模式\~english Transmission type + unsigned int nDestIp; ///< \~chinese 目标IP，组播模式下有意义\~english Destination IP + unsigned short nDestPort; ///< \~chinese 目标Port，组播模式下有意义\~english Destination port + + unsigned int nReserved[32]; ///< \~chinese 预留\~english Reserved +}MV_TRANSMISSION_TYPE; + +/// \~chinese 动作命令信息\~english Action Command +typedef struct _MV_ACTION_CMD_INFO_T +{ + unsigned int nDeviceKey; ///< \~chinese 设备密钥 + unsigned int nGroupKey; ///< \~chinese 组键 + unsigned int nGroupMask; ///< \~chinese 组掩码 + + unsigned int bActionTimeEnable; ///< \~chinese 只有设置成1时Action Time才有效，非1时无效 + int64_t nActionTime; ///< \~chinese 预定的时间，和主频有关 + + const char* pBroadcastAddress; ///< \~chinese 广播包地址 + unsigned int nTimeOut; ///< \~chinese 等待ACK的超时时间，如果为0表示不需要ACK + + unsigned int bSpecialNetEnable; ///< [IN] \~chinese 只有设置成1时指定的网卡IP才有效，非1时无效 \~english Special IP Enable + unsigned int nSpecialNetIP; ///< [IN] \~chinese 指定的网卡IP \~english Special Net IP address + + unsigned int nReserved[14]; ///< \~chinese 预留\~english Reserved + +}MV_ACTION_CMD_INFO; + +/// \~chinese 动作命令返回信息\~english Action Command Result +typedef struct _MV_ACTION_CMD_RESULT_T +{ + unsigned char strDeviceAddress[12 + 3 + 1]; ///< IP address of the device + + //status code returned by the device + int nStatus;//1.0x0000:success. + //2.0x8001:Command is not supported by the device. + //3.0x8013:The device is not synchronized to a master clock to be used as time reference. + //4.0x8015:A device queue or packet data has overflowed. + //5.0x8016:The requested scheduled action command was requested at a time that is already past. + + unsigned int nReserved[4]; ///< \~chinese 预留\~english Reserved + +}MV_ACTION_CMD_RESULT; + +/// \~chinese 动作命令返回信息列表\~english Action Command Result List +typedef struct _MV_ACTION_CMD_RESULT_LIST_T +{ + unsigned int nNumResults; ///< \~chinese 返回值个数 + MV_ACTION_CMD_RESULT* pResults; + +}MV_ACTION_CMD_RESULT_LIST; + +// ch:单个节点基本属性 | en:Single Node Basic Attributes +typedef struct _MV_XML_NODE_FEATURE_ +{ + enum MV_XML_InterfaceType enType; ///< \~chinese 节点类型\~english Node Type + enum MV_XML_Visibility enVisivility; ///< \~chinese 是否可见\~english Is visibility + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 节点描述，目前暂不支持\~english Node Description, NOT SUPPORT NOW + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; ///< \~chinese 显示名称\~english Display Name + char strName[MV_MAX_XML_NODE_STRLEN_C]; ///< \~chinese 节点名\~english Node Name + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 提示\~english Notice + + unsigned int nReserved[4]; +}MV_XML_NODE_FEATURE; + +/// \~chinese 节点列表\~english Node List +typedef struct _MV_XML_NODES_LIST_ +{ + unsigned int nNodeNum; ///< \~chinese 节点个数\~english Node Number + MV_XML_NODE_FEATURE stNodes[MV_MAX_XML_NODE_NUM_C]; +}MV_XML_NODES_LIST; + + + +typedef struct _MV_XML_FEATURE_Value_ +{ + enum MV_XML_InterfaceType enType; ///< \~chinese节点类型\~english Node Type + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese节点描述 目前暂不支持\~english Node Description, NOT SUPPORT NOW + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; ///< \~chinese 显示名称\~english Display Name + char strName[MV_MAX_XML_NODE_STRLEN_C]; ///< \~chinese 节点名\~english Node Name + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 提示\~english Notice + unsigned int nReserved[4]; +}MV_XML_FEATURE_Value; + +typedef struct _MV_XML_FEATURE_Base_ +{ + enum MV_XML_AccessMode enAccessMode; ///< \~chinese 访问模式\~english Access Mode +}MV_XML_FEATURE_Base; + +typedef struct _MV_XML_FEATURE_Integer_ +{ + char strName[MV_MAX_XML_NODE_STRLEN_C]; + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 目前暂不支持\~english NOT SUPPORT NOW + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; + + enum MV_XML_Visibility enVisivility; ///< \~chinese是否可见\~english Visible + enum MV_XML_AccessMode enAccessMode; ///< \~chinese 访问模式\~english Access Mode + int bIsLocked; ///< \~chinese 是否锁定。0-否；1-是 目前暂不支持\~english Locked. 0-NO; 1-YES, NOT SUPPORT NOW + int64_t nValue; ///< \~chinese 当前值\~english Current Value + int64_t nMinValue; ///< \~chinese 最小值\~english Min Value + int64_t nMaxValue; ///< \~chinese 最大值\~english Max Value + int64_t nIncrement; ///< \~chinese 增量\~english Increment + + unsigned int nReserved[4]; + +}MV_XML_FEATURE_Integer; + +typedef struct _MV_XML_FEATURE_Boolean_ +{ + char strName[MV_MAX_XML_NODE_STRLEN_C]; + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 目前暂不支持\~english NOT SUPPORT NOW + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; + + enum MV_XML_Visibility enVisivility; ///< \~chinese 是否可见\~english Visible + enum MV_XML_AccessMode enAccessMode; ///< \~chinese 访问模式\~english Access Mode + int bIsLocked; ///< \~chinese 是否锁定。0-否；1-是 目前暂不支持\~english Locked. 0-NO; 1-YES, NOT SUPPORT NOW + bool bValue; ///< \~chinese 当前值\~english Current Value + + unsigned int nReserved[4]; +}MV_XML_FEATURE_Boolean; + +typedef struct _MV_XML_FEATURE_Command_ +{ + char strName[MV_MAX_XML_NODE_STRLEN_C]; + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 目前暂不支持\~english NOT SUPPORT NOW + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; + + enum MV_XML_Visibility enVisivility; ///< \~chinese 是否可见\~english Visible + enum MV_XML_AccessMode enAccessMode; ///< \~chinese 访问模式\~english Access Mode + int bIsLocked; ///< \~chinese 是否锁定。0-否；1-是 目前暂不支持\~english Locked. 0-NO; 1-YES, NOT SUPPORT NOW + + unsigned int nReserved[4]; +}MV_XML_FEATURE_Command; + +typedef struct _MV_XML_FEATURE_Float_ +{ + char strName[MV_MAX_XML_NODE_STRLEN_C]; + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 目前暂不支持\~english NOT SUPPORT NOW + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; + + enum MV_XML_Visibility enVisivility; ///< \~chinese 是否可见\~english Visible + enum MV_XML_AccessMode enAccessMode; ///< \~chinese 访问模式\~english Access Mode + int bIsLocked; ///< \~chinese 是否锁定。0-否；1-是 目前暂不支持\~english Locked. 0-NO; 1-YES, NOT SUPPORT NOW + double dfValue; ///< \~chinese 当前值\~english Current Value + double dfMinValue; ///< \~chinese 最小值\~english Min Value + double dfMaxValue; ///< \~chinese 最大值\~english Max Value + double dfIncrement; ///< \~chinese 增量\~english Increment + + unsigned int nReserved[4]; +}MV_XML_FEATURE_Float; + +typedef struct _MV_XML_FEATURE_String_ +{ + char strName[MV_MAX_XML_NODE_STRLEN_C]; + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 目前暂不支持\~english NOT SUPPORT NOW + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; + + enum MV_XML_Visibility enVisivility; ///< \~chinese 是否可见\~english Visible + enum MV_XML_AccessMode enAccessMode; ///< \~chinese 访问模式\~english Access Mode + int bIsLocked; ///< \~chinese 是否锁定。0-否；1-是 目前暂不支持\~english Locked. 0-NO; 1-YES, NOT SUPPORT NOW + char strValue[MV_MAX_XML_STRVALUE_STRLEN_C]; ///< \~chinese 当前值\~english Current Value + + unsigned int nReserved[4]; +}MV_XML_FEATURE_String; + +typedef struct _MV_XML_FEATURE_Register_ +{ + char strName[MV_MAX_XML_NODE_STRLEN_C]; + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 目前暂不支持\~english NOT SUPPORT NOW + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; + + enum MV_XML_Visibility enVisivility; ///< \~chinese 是否可见\~english Visible + enum MV_XML_AccessMode enAccessMode; ///< \~chinese 访问模式\~english Access Mode + int bIsLocked; ///< \~chinese 是否锁定。0-否；1-是 目前暂不支持\~english Locked. 0-NO; 1-YES, NOT SUPPORT NOW + int64_t nAddrValue; ///< \~chinese 当前值\~english Current Value + + unsigned int nReserved[4]; +}MV_XML_FEATURE_Register; + +typedef struct _MV_XML_FEATURE_Category_ +{ + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 节点描述 目前暂不支持\~english Node Description, NOT SUPPORT NOW + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; ///< \~chinese 显示名称\~english Display Name + char strName[MV_MAX_XML_NODE_STRLEN_C]; ///< \~chinese 节点名\~english Node Name + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 提示\~english Notice + + enum MV_XML_Visibility enVisivility; ///< \~chinese 是否可见\~english Visible + + unsigned int nReserved[4]; +}MV_XML_FEATURE_Category; + +typedef struct _MV_XML_FEATURE_EnumEntry_ +{ + char strName[MV_MAX_XML_NODE_STRLEN_C]; + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 目前暂不支持\~english NOT SUPPORT NOW + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; + int bIsImplemented; + int nParentsNum; + MV_XML_NODE_FEATURE stParentsList[MV_MAX_XML_PARENTS_NUM]; + + enum MV_XML_Visibility enVisivility; ///< \~chinese 是否可见\~english Visible + int64_t nValue; ///< \~chinese 当前值\~english Current Value + enum MV_XML_AccessMode enAccessMode; ///< \~chinese 访问模式\~english Access Mode + int bIsLocked; ///< \~chinese 是否锁定。0-否；1-是 目前暂不支持\~english Locked. 0-NO; 1-YES, NOT SUPPORT NOW + int nReserved[8]; + +}MV_XML_FEATURE_EnumEntry; + + +typedef struct _MV_XML_FEATURE_Enumeration_ +{ + enum MV_XML_Visibility enVisivility; ///< \~chinese 是否可见\~english Visible + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 节点描述 目前暂不支持\~english Node Description, NOT SUPPORT NOW + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; ///< \~chinese 显示名称\~english Display Name + char strName[MV_MAX_XML_NODE_STRLEN_C]; ///< \~chinese 节点名\~english Node Name + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 提示\~english Notice + + int nSymbolicNum; ///< \~chinese Symbolic数\~english Symbolic Number + char strCurrentSymbolic[MV_MAX_XML_SYMBOLIC_STRLEN_C]; ///< \~chinese 当前Symbolic索引\~english Current Symbolic Index + char strSymbolic[MV_MAX_XML_SYMBOLIC_NUM][MV_MAX_XML_SYMBOLIC_STRLEN_C]; + enum MV_XML_AccessMode enAccessMode; ///< \~chinese 访问模式\~english Access Mode + int bIsLocked; ///< \~chinese 是否锁定。0-否；1-是 目前暂不支持\~english Locked. 0-NO; 1-YES, NOT SUPPORT NOW + int64_t nValue; ///< \~chinese 当前值\~english Current Value + + unsigned int nReserved[4]; +}MV_XML_FEATURE_Enumeration; + + +typedef struct _MV_XML_FEATURE_Port_ +{ + enum MV_XML_Visibility enVisivility; ///< \~chinese 是否可见\~english Visible + char strDescription[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 节点描述 目前暂不支持\~english Node Description, NOT SUPPORT NOW + char strDisplayName[MV_MAX_XML_NODE_STRLEN_C]; ///< \~chinese 显示名称\~english Display Name + char strName[MV_MAX_XML_NODE_STRLEN_C]; ///< \~chinese 节点名\~english Node Name + char strToolTip[MV_MAX_XML_DISC_STRLEN_C]; ///< \~chinese 提示\~english Notice + + enum MV_XML_AccessMode enAccessMode; ///< \~chinese 访问模式\~english Access Mode + int bIsLocked; ///< \~chinese 是否锁定。0-否；1-是 目前暂不支持\~english Locked. 0-NO; 1-YES, NOT SUPPORT NOW + + unsigned int nReserved[4]; +}MV_XML_FEATURE_Port; + +typedef struct _MV_XML_CAMERA_FEATURE_ +{ + enum MV_XML_InterfaceType enType; + union + { + MV_XML_FEATURE_Integer stIntegerFeature; + MV_XML_FEATURE_Float stFloatFeature; + MV_XML_FEATURE_Enumeration stEnumerationFeature; + MV_XML_FEATURE_String stStringFeature; + }SpecialFeature; + +}MV_XML_CAMERA_FEATURE; + +typedef struct _MVCC_ENUMVALUE_T +{ + unsigned int nCurValue; ///< \~chinese 当前值\~english Current Value + unsigned int nSupportedNum; ///< \~chinese 数据的有效数据个数\~english Number of valid data + unsigned int nSupportValue[MV_MAX_XML_SYMBOLIC_NUM]; + + unsigned int nReserved[4]; +}MVCC_ENUMVALUE; + +typedef struct _MVCC_INTVALUE_T +{ + unsigned int nCurValue; ///< \~chinese 当前值\~english Current Value + unsigned int nMax; + unsigned int nMin; + unsigned int nInc; + + unsigned int nReserved[4]; +}MVCC_INTVALUE; + +typedef struct _MVCC_INTVALUE_EX_T +{ + int64_t nCurValue; ///< \~chinese 当前值\~english Current Value + int64_t nMax; + int64_t nMin; + int64_t nInc; + + unsigned int nReserved[16]; +}MVCC_INTVALUE_EX; + +typedef struct _MVCC_FLOATVALUE_T +{ + float fCurValue; ///< \~chinese 当前值\~english Current Value + float fMax; + float fMin; + + unsigned int nReserved[4]; +}MVCC_FLOATVALUE; + +typedef struct _MVCC_STRINGVALUE_T +{ + char chCurValue[256]; ///< \~chinese 当前值\~english Current Value + + int64_t nMaxLength; + unsigned int nReserved[2]; +}MVCC_STRINGVALUE; + +#endif /* _MV_CAMERA_PARAMS_H_ */ diff --git a/src/rm_vision/ros2-hik-camera/hikSDK/include/MvCameraControl.h b/src/rm_vision/ros2-hik-camera/hikSDK/include/MvCameraControl.h new file mode 100644 index 0000000..2bd89d6 --- /dev/null +++ b/src/rm_vision/ros2-hik-camera/hikSDK/include/MvCameraControl.h @@ -0,0 +1,3398 @@ + +#ifndef _MV_CAMERA_CTRL_H_ +#define _MV_CAMERA_CTRL_H_ + +#include "MvErrorDefine.h" +#include "CameraParams.h" + +/** +* @brief 动态库导入导出定义 +* @brief Import and export definition of the dynamic library +*/ +#ifndef MV_CAMCTRL_API + + #if (defined (_WIN32) || defined(WIN64)) + #if defined(MV_CAMCTRL_EXPORTS) + #define MV_CAMCTRL_API __declspec(dllexport) + #else + #define MV_CAMCTRL_API __declspec(dllimport) + #endif + #else + #ifndef __stdcall + #define __stdcall + #endif + + #if defined(MV_CAMCTRL_EXPORTS) + #define MV_CAMCTRL_API __attribute__((visibility("default"))) + #else + #define MV_CAMCTRL_API + #endif + #endif + +#endif + +#ifndef IN + #define IN +#endif + +#ifndef OUT + #define OUT +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +/************************************************************************/ +/* 相机的基本指令和操作 */ +/* Camera basic instructions and operations */ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 获取SDK版本号 + * @return 始终返回4字节版本号 + | 主 | 次 | 修正 | 测试 | + | :---: | :---: | :---: | :---: | + | 8bits | 8bits | 8bits | 8bits | + * @remarks 比如返回值为0x01000001，即SDK版本号为V1.0.0.1。 + + * @~english + * @brief Get SDK Version + * @return Always return 4 Bytes of version number + | Main | Sub | Rev | Test | + | :---: | :---: | :---: | :---: | + | 8bits | 8bits | 8bits | 8bits | + * @remarks For example, if the return value is 0x01000001, the SDK version is V1.0.0.1. + ************************************************************************/ +MV_CAMCTRL_API unsigned int __stdcall MV_CC_GetSDKVersion(); + +/********************************************************************//** + * @~chinese + * @brief 获取支持的传输层 + * @return 支持的传输层编号 + + * @~english + * @brief Get supported Transport Layer + * @return Supported Transport Layer number + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_EnumerateTls(); + +/********************************************************************//** + * @~chinese + * @brief 枚举设备 + * @param nTLayerType [IN] 枚举传输层 + * @param pstDevList [OUT] 设备列表 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 设备列表的内存是在SDK内部分配的，多线程调用该接口时会进行设备列表内存的释放和申请.\n + 建议尽量避免多线程枚举操作。 + + * @~english + * @brief Enumerate Device + * @param nTLayerType [IN] Enumerate TLs + * @param pstDevList [OUT] Device List + * @return Success, return #MV_OK. Failure, return error code + * @remarks @remarks The memory of the device list is allocated within the SDK. When the interface is invoked by multiple threads, the memory of the device list will be released and applied.\n + It is recommended to avoid multithreaded enumeration operations as much as possible. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_EnumDevices(IN unsigned int nTLayerType, IN OUT MV_CC_DEVICE_INFO_LIST* pstDevList); + +/********************************************************************//** + * @~chinese + * @brief 根据厂商名字枚举设备 + * @param nTLayerType [IN] 枚举传输层 + * @param pstDevList [OUT] 设备列表 + * @param pManufacturerName [IN] 厂商名字 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Enumerate device according to manufacture name + * @param nTLayerType [IN] Transmission layer of enumeration + * @param pstDevList [OUT] Device list + * @param pManufacturerName [IN] Manufacture Name + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_EnumDevicesEx(IN unsigned int nTLayerType, IN OUT MV_CC_DEVICE_INFO_LIST* pstDevList, IN const char* pManufacturerName); + +/********************************************************************//** + * @~chinese + * @brief 设备是否可达 + * @param pstDevInfo [IN] 设备信息结构体 + * @param nAccessMode [IN] 访问权限 + * @return 可达，返回true；不可达，返回false + * @remarks 读取设备CCP寄存器的值，判断当前状态是否具有某种访问权限。 \n + 如果设备不支持 #MV_ACCESS_ExclusiveWithSwitch、 #MV_ACCESS_ControlWithSwitch、 #MV_ACCESS_ControlSwitchEnableWithKey这三种模式，接口返回false。目前设备不支持这3种抢占模式，国际上主流的厂商的相机也都暂不支持这3种模式。 \n + 该接口不支持CameraLink设备。 + + * @~english + * @brief Is the device accessible + * @param pstDevInfo [IN] Device Information Structure + * @param nAccessMode [IN] Access Right + * @return Access, return true. Not access, return false + @remarks Read device CCP register value and determine current access permission.\n + Return false if the device does not support the modes #MV_ACCESS_ExclusiveWithSwitch, #MV_ACCESS_ControlWithSwitch, #MV_ACCESS_ControlSwitchEnableWithKey. Currently the device does not support the 3 preemption modes, neither do the devices from other mainstream manufacturers. \n + This API is not supported by CameraLink device. + ************************************************************************/ +MV_CAMCTRL_API bool __stdcall MV_CC_IsDeviceAccessible(IN MV_CC_DEVICE_INFO* pstDevInfo, IN unsigned int nAccessMode); + +/********************************************************************//** + * @~chinese + * @brief 设置SDK日志路径（如果日志服务MvLogServer已启用，则该接口无效，默认日志服务为开启状态） + * @param pSDKLogPath [IN] SDK日志路径 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 设置路径之后，可以指定路径存放日志。\n + v2.4.1版本新增日志服务，开启服务之后该接口无效。 + + * @~english + * @brief Set SDK log path + * @param pSDKLogPath [IN] SDK log path + * @return Access, return true. Not access, return false + * @remarks For version V2.4.1, added log service, this API is invalid when the service is enabled.And The logging service is enabled by default\n + This API is used to set the log file storing path. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetSDKLogPath(IN const char * pSDKLogPath); + +/********************************************************************//** + * @~chinese + * @brief 创建设备句柄 + * @param handle [OUT] 设备句柄 + * @param pstDevInfo [IN] 设备信息结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 根据输入的设备信息，创建库内部必须的资源和初始化内部模块。通过该接口创建句柄，调用SDK接口，会默认生成SDK日志文件，保存在当前可执行程序路径下的MvSdkLog文件夹，如果不需要生成日志文件，可以通过MV_CC_CreateHandleWithoutLog创建句柄。 + + * @~english + * @brief Create Device Handle + * @param handle [OUT] Device handle + * @param pstDevInfo [IN] Device Information Structure + * @return Success, return #MV_OK. Failure, return error code + * @remarks Create required resources within library and initialize internal module according to input device information. Create handle and call SDK interface through this interface, and SDK log file will be created by default. Creating handle through #MV_CC_CreateHandleWithoutLog will not generate log files. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_CreateHandle(OUT void ** handle, IN const MV_CC_DEVICE_INFO* pstDevInfo); + +/********************************************************************//** + * @~chinese + * @brief 创建设备句柄，不生成日志 + * @param handle [OUT] 设备句柄 + * @param pstDevInfo [IN] 设备信息结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 根据输入的设备信息，创建库内部必须的资源和初始化内部模块。通过该接口创建句柄，调用SDK接口，不会默认生成SDK日志文件，如果需要生成日志文件可以通过MV_CC_CreateHandle创建句柄，日志文件自动生成，保存在当前可执行程序路径下的MvSdkLog文件夹。 + + * @~english + * @brief Create Device Handle without log + * @param handle [OUT] Device handle + * @param pstDevInfo [IN] Device Information Structure + * @return Success, return #MV_OK. Failure, return error code + * @remarks Create required resources within library and initialize internal module according to input device information. Create handle and call SDK interface through this interface, and SDK log file will not be created. To create logs, create handle through MV_CC_CreateHandle, and log files will be automatically generated. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_CreateHandleWithoutLog(OUT void ** handle, IN const MV_CC_DEVICE_INFO* pstDevInfo); + +/********************************************************************//** + * @~chinese + * @brief 销毁设备句柄 + * @param handle [IN] 设备句柄 + * @return 成功，返回#MV_OK；错误，返回错误码 + + * @~english + * @brief Destroy Device Handle + * @param handle [IN] Device handle + * @return Success, return #MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_DestroyHandle(IN void * handle); + +/********************************************************************//** + * @~chinese + * @brief 打开设备 + * @param handle [IN] 设备句柄 + * @param nAccessMode [IN] 访问权限 + * @param nSwitchoverKey [IN] 切换访问权限时的密钥 + * @return 成功，返回#MV_OK ；错误，返回错误码 + * @remarks 根据设置的设备参数，找到对应的设备，连接设备。\n + 调用接口时可不传入nAccessMode和nSwitchoverKey，此时默认设备访问模式为独占权限。目前设备暂不支持#MV_ACCESS_ExclusiveWithSwitch、 #MV_ACCESS_ControlWithSwitch、MV_ACCESS_ControlSwitchEnable、MV_ACCESS_ControlSwitchEnableWithKey这四种抢占模式。\n + 对于U3V设备，nAccessMode、nSwitchoverKey这两个参数无效。 + + * @~english + * @brief Open Device + * @param handle [IN] Device handle + * @param nAccessMode [IN] Access Right + * @param nSwitchoverKey [IN] Switch key of access right + * @return Success, return #MV_OK. Failure, return error code + * @remarks Find specific device and connect according to set device parameters. \n + When calling the interface, the input of nAccessMode and nSwitchoverKey is optional, and the device access mode is exclusive. Currently the device does not support the following preemption modes: MV_ACCESS_ExclusiveWithSwitch, MV_ACCESS_ControlWithSwitch, MV_ACCESS_ControlSwitchEnableWithKey.\n + For USB3Vision device, nAccessMode, nSwitchoverKey are invalid. + ************************************************************************/ +#ifndef __cplusplus +MV_CAMCTRL_API int __stdcall MV_CC_OpenDevice(IN void* handle, IN unsigned int nAccessMode, IN unsigned short nSwitchoverKey); +#else +MV_CAMCTRL_API int __stdcall MV_CC_OpenDevice(IN void* handle, IN unsigned int nAccessMode = MV_ACCESS_Exclusive, IN unsigned short nSwitchoverKey = 0); +#endif + +/********************************************************************//** + * @~chinese + * @brief 关闭相机 + * @param handle [IN] 设备句柄 + * @return 成功，返回#MV_OK ；错误，返回错误码 + * @remarks 通过MV_CC_OpenDevice连接设备后，可以通过该接口断开设备连接，释放资源 + + * @~english + * @brief Close Device + * @param handle [IN] Device handle + * @return Success, return #MV_OK. Failure, return error code + * @remarks After connecting to device through MV_CC_OpenDevice, use this interface to disconnect and release resources. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_CloseDevice(IN void* handle); + +/********************************************************************//** + * @~chinese + * @brief 判断相机是否处于连接状态 + * @param handle [IN] 设备句柄 + * @return 设备处于连接状态，返回true；没连接或失去连接，返回false + + * @~english + * @brief Is The Device Connected + * @param handle [IN] Device handle + * @return Connected, return true. Not Connected or DIsconnected, return false + ***********************************************************************/ +MV_CAMCTRL_API bool __stdcall MV_CC_IsDeviceConnected(IN void* handle); + +/********************************************************************//** + * @~chinese + * @brief 注册图像数据回调 + * @param handle [IN] 设备句柄 + * @param cbOutput [IN] 回调函数指针 + * @param pUser [IN] 用户自定义变量 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 通过该接口可以设置图像数据回调函数，在MV_CC_CreateHandle之后即可调用。 \n + 图像数据采集有两种方式，两种方式不能复用： + - 方式一：调用MV_CC_RegisterImageCallBackEx设置图像数据回调函数，然后调用MV_CC_StartGrabbing开始采集，采集的图像数据在设置的回调函数中返回。 + - 方式二：调用MV_CC_StartGrabbing开始采集，然后在应用层循环调用MV_CC_GetOneFrameTimeout获取指定像素格式的帧数据，获取帧数据时上层应用程序需要根据帧率控制好调用该接口的频率。 + 该接口仅在windows版本和Linux版本下支持。\n + 该接口不支持CameraLink设备。 + + * @~english + * @brief Register the image callback function + * @param handle [IN] Device handle + * @param cbOutput [IN] Callback function pointer + * @param pUser [IN] User defined variable + * @return Success, return #MV_OK. Failure, return error code + * @remarks After MV_CC_CreateHandle, call this interface to set image data callback function.\n + There are two available image data acquisition modes, and cannot be used together: + - Mode 1: Call MV_CC_RegisterImageCallBack to set image data callback function, and then call MV_CC_StartGrabbing to start acquiring. The acquired image data will return in the set callback function. + - Mode 2: Call MV_CC_StartGrabbing to start acquiring, and then call MV_CC_GetOneFrameTimeout repeatedly in application layer to get frame data of specified pixel format. When getting frame data, the frequency of calling this interface should be controlled by upper layer application according to frame rate. + This API is not supported by CameraLink device. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_RegisterImageCallBackEx(void* handle, + void(__stdcall* cbOutput)(unsigned char * pData, MV_FRAME_OUT_INFO_EX* pFrameInfo, void* pUser), + void* pUser); + +/********************************************************************//** + * @~chinese + * @brief 注册图像数据回调，RGB + * @param handle [IN] 设备句柄 + * @param cbOutput [IN] 回调函数指针 + * @param pUser [IN] 用户自定义变量 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 通过该接口可以设置图像数据回调函数，在MV_CC_CreateHandle之后即可调用。 \n + 图像数据采集有两种方式，两种方式不能复用： + - 方式一：调用MV_CC_RegisterImageCallBackForRGB设置RGB24格式图像数据回调函数，然后调用MV_CC_StartGrabbing开始采集，采集的图像数据在设置的回调函数中返回。 + - 方式二：调用MV_CC_StartGrabbing开始采集，然后在应用层循环调用MV_CC_GetImageForRGB获取RGB24格式的帧数据，获取帧数据时上层应用程序需要根据帧率控制好调用该接口的频率。\n\n + 该接口仅在windows版本和Linux版本下支持。 \n + 该接口不支持CameraLink设备。 + + * @~english + * @brief register image data callback, RGB + * @param handle [IN] Device handle + * @param cbOutput [IN] Callback function pointer + * @param pUser [IN] User defined variable + * @return Success, return #MV_OK. Failure, return error code + * @remarks Before calling this API to set image data callback function, you should call this API MV_CC_CreateHandle. \n + There are two image acquisition modes, the two modes cannot be reused: + - Mode 1: Call #MV_CC_RegisterImageCallBackForRGB to set RGB24 format image data callback function, + and then call #MV_CC_StartGrabbing to start acquisition, + the collected image data will be returned in the configured callback function. + - Mode 2: Call MV_CC_StartGrabbing to start acquisition, and the call MV_CC_GetImageForRGB + repeatedly in application layer to get frame data with RGB24 format. + When getting frame data, the upper application program should control the frequency + of calling this API according to frame rate. \n\n + This API is not supported by CameraLink device. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_RegisterImageCallBackForRGB(void* handle, + void(__stdcall* cbOutput)(unsigned char * pData, MV_FRAME_OUT_INFO_EX* pFrameInfo, void* pUser), + void* pUser); + +/********************************************************************//** + * @~chinese + * @brief 注册图像数据回调，BGR + * @param handle [IN] 设备句柄 + * @param cbOutput [IN] 回调函数指针 + * @param pUser [IN] 用户自定义变量 + * @return 成功，返回 #MV_OK ；错误，返回错误码 + * @remarks 通过该接口可以设置图像数据回调函数，在MV_CC_CreateHandle之后即可调用。\n + 图像数据采集有两种方式，两种方式不能复用：\n + - 方式一：调用 #MV_CC_RegisterImageCallBackForBGR 设置 #BGR24 图像数据回调函数，然后调用 #MV_CC_StartGrabbing 开始采集，采集的图像数据在设置的回调函数中返回。 + - 方式二：调用 #MV_CC_StartGrabbing 开始采集，然后在应用层循环调用 #MV_CC_GetImageForBGR 获取 #BGR24 格式的帧数据，获取帧数据时上层应用程序需要根据帧率控制好调用该接口的频率。 \n\n + 该接口仅在windows版本和Linux版本下支持。 \n + 该接口不支持CameraLink设备。 + + * @~english + * @brief register image data callback, BGR + * @param handle [IN] Device handle + * @param cbOutput [IN] Callback function pointer + * @param pUser [IN] User defined variable + * @return Success, return #MV_OK. Failure, return error code + * @remarks Before calling this API to set image data callback function, you should call this API MV_CC_CreateHandle. \n + There are two image acquisition modes, the two modes cannot be reused: \n + - Mode 1: Call MV_CC_RegisterImageCallBackForBGR to set RGB24 format image data callback function, and then call MV_CC_StartGrabbing to start acquisition, the collected image data will be returned in the configured callback function.\n + - Mode 2: Call MV_CC_StartGrabbing to start acquisition, and the call MV_CC_GetImageForBGR repeatedly in application layer to get frame data with BGR24 format. When getting frame data, the upper application program should control the frequency of calling this API according to frame rate.\n + This API is not supported by CameraLink device. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_RegisterImageCallBackForBGR(void* handle, + void(__stdcall* cbOutput)(unsigned char * pData, MV_FRAME_OUT_INFO_EX* pFrameInfo, void* pUser), + void* pUser); + +/********************************************************************//** + * @~chinese + * @brief 开始取流 + * @param handle [IN] 设备句柄 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 该接口不支持CameraLink设备。 + + * @~english + * @brief Start Grabbing + * @param handle [IN] Device handle + * @return Success, return #MV_OK. Failure, return error code + * @remarks This API is not supported by CameraLink device. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_StartGrabbing(IN void* handle); + +/********************************************************************//** + * @~chinese + * @brief 停止取流 + * @param handle [IN] 设备句柄 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 该接口不支持CameraLink设备。 + + * @~english + * @brief Stop Grabbing + * @param handle [IN] Device handle + * @return Success, return #MV_OK. Failure, return error code + * @remarks This API is not supported by CameraLink device. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_StopGrabbing(IN void* handle); + +/********************************************************************//** + * @~chinese + * @brief 获取一帧RGB数据，此函数为查询式获取，每次调用查询内部 + 缓存有无数据，有数据则获取数据，无数据返回错误码 + * @param handle [IN] 设备句柄 + * @param pData [OUT] 图像数据接收指针 + * @param nDataSize [IN] 接收缓存大小 + * @param pFrameInfo [OUT] 图像信息结构体 + * @param nMsec [IN] 等待超时时间 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 每次调用该接口，将查询内部缓存是否有数据，如果有数据则转换成RGB24格式返回，如果没有数据则返回错误码。因为图像转换成RGB24格式有耗时，所以当数据帧率过高时该接口可能会导致丢帧。\n + 调用该接口获取图像数据帧之前需要先调用MV_CC_StartGrabbing启动图像采集。该接口为主动式获取帧数据，上层应用程序需要根据帧率，控制好调用该接口的频率。 \n + 该接口不支持CameraLink设备。 \n + 该接口仅在windows版本和Linux版本下支持。 + + * @~english + * @brief Get one frame of RGB data, this function is using query to get data + query whether the internal cache has data, get data if there has, return error code if no data + * @param handle [IN] Device handle + * @param pData [OUT] Image data receiving buffer + * @param nDataSize [IN] Buffer size + * @param pFrameInfo [OUT] Image information structure + * @param nMsec [IN] Waiting timeout + * @return Success, return #MV_OK. Failure, return error code + * @remarks Before calling this API to set image data callback function, you should call this API MV_CC_CreateHandle. \n + There are two image acquisition modes, the two modes cannot be reused: \n + - Mode 1: Call MV_CC_RegisterImageCallBackForBGR to set RGB24 format image data callback function, and then call MV_CC_StartGrabbing to start acquisition, the collected image data will be returned in the configured callback function.\n + - Mode 2: Call MV_CC_StartGrabbing to start acquisition, and the call MV_CC_GetImageForBGR repeatedly in application layer to get frame data with BGR24 format. When getting frame data, the upper application program should control the frequency of calling this API according to frame rate. \n + This API is not supported by CameraLink device. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetImageForRGB(IN void* handle, IN OUT unsigned char * pData , IN unsigned int nDataSize, IN OUT MV_FRAME_OUT_INFO_EX* pFrameInfo, int nMsec); + +/********************************************************************//** + * @~chinese + * @brief 获取一帧BGR数据，此函数为查询式获取，每次调用查询内部 + 缓存有无数据，有数据则获取数据，无数据返回错误码 + * @param handle [IN] 设备句柄 + * @param pData [OUT] 图像数据接收指针 + * @param nDataSize [IN] 接收缓存大小 + * @param pFrameInfo [OUT] 图像信息结构体 + * @param nMsec [IN] 等待超时时间 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 每次调用该接口，将查询内部缓存是否有数据，如果有数据则转换成BGR24格式返回，如果没有数据则返回错误码。因为图像转换成BGR24格式有耗时，所以当数据帧率过高时该接口可能会导致丢帧。 \n + 调用该接口获取图像数据帧之前需要先调用MV_CC_StartGrabbing启动图像采集。该接口为主动式获取帧数据，上层应用程序需要根据帧率，控制好调用该接口的频率。\n + 该接口不支持CameraLink设备。\n + 该接口仅在windows版本和Linux版本下支持。 + + + * @~english + * @brief Get one frame of BGR data, this function is using query to get data + query whether the internal cache has data, get data if there has, return error code if no data + * @param handle [IN] Device handle + * @param pData [OUT] Image data receiving buffer + * @param nDataSize [IN] Buffer size + * @param pFrameInfo [OUT] Image information structure + * @param nMsec [IN] Waiting timeout + * @return Success, return #MV_OK. Failure, return error code + * @remarks Before calling this API to set image data callback function, you should call this API MV_CC_CreateHandle. \n + There are two image acquisition modes, the two modes cannot be reused: \n + - Mode 1: Call MV_CC_RegisterImageCallBackForBGR to set RGB24 format image data callback function, and then call MV_CC_StartGrabbing to start acquisition, the collected image data will be returned in the configured callback function.\n + - Mode 2: Call MV_CC_StartGrabbing to start acquisition, and the call MV_CC_GetImageForBGR repeatedly in application layer to get frame data with BGR24 format. When getting frame data, the upper application program should control the frequency of calling this API according to frame rate. \n + This API is not supported by CameraLink device. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetImageForBGR(IN void* handle, IN OUT unsigned char * pData , IN unsigned int nDataSize, IN OUT MV_FRAME_OUT_INFO_EX* pFrameInfo, int nMsec); + +/********************************************************************//** + * @~chinese + * @brief 使用内部缓存获取一帧图片（与MV_CC_Display不能同时使用） + * @param handle [IN] 设备句柄 + * @param pFrame [OUT] 图像数据和图像信息 + * @param nMsec [IN] 等待超时时间，输入INFINITE时表示无限等待，直到收到一帧数据或者停止取流 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 调用该接口获取图像数据帧之前需要先调用MV_CC_StartGrabbing启动图像采集。该接口为主动式获取帧数据，上层应用程序需要根据帧率，控制好调用该接口的频率。该接口支持设置超时时间，SDK内部等待直到有数据时返回，可以增加取流平稳性，适合用于对平稳性要求较高的场合。 \n + 该接口与MV_CC_FreeImageBuffer配套使用，当处理完取到的数据后，需要用MV_CC_FreeImageBuffer接口将pFrame内的数据指针权限进行释放。 \n + 该接口与MV_CC_GetOneFrameTimeout相比，有着更高的效率。且其取流缓存的分配是由sdk内部自动分配的，而MV_CC_GetOneFrameTimeout接口是需要客户自行分配。\n + 该接口在调用MV_CC_Display后无法取流。 \n + 该接口对于U3V、GIGE设备均可支持。 \n + 该接口不支持CameraLink设备。 + + * @~english + * @brief Get a frame of an image using an internal cache + * @param handle [IN] Device handle + * @param pFrame [OUT] Image data and image information + * @param nMsec [IN] Waiting timeout + * @return Success, return #MV_OK. Failure, return error code + * @remarks Before calling this API to get image data frame, you should call MV_CC_StartGrabbing to start image acquisition. This API can get frame data actively, the upper layer program should control the frequency of calling this API according to the frame rate. This API supports setting timeout, and SDK will wait to return until data appears. This function will increase the streaming stability, which can be used in the situation with high stability requirement. \n + This API and MV_CC_FreeImageBuffer should be called in pairs, after processing the acquired data, you should call MV_CC_FreeImageBuffer to release the data pointer permission of pFrame. \n + This interface is more efficient than MV_CC_GetOneFrameTimeout. The allocation of the stream cache is automatically allocated within the SDK.The MV_CC_GetOneFrameTimeout interface needs to be allocated by customers themselves. \n + This API cannot be called to stream after calling MV_CC_Display. \n + This API is not supported by CameraLink device. \n + This API is supported by both USB3 vision camera and GigE camera. \n + **********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetImageBuffer(IN void* handle, OUT MV_FRAME_OUT* pFrame, IN unsigned int nMsec); + +/********************************************************************//** + * @~chinese + * @brief 释放图像缓存(此接口用于释放不再使用的图像缓存，与MV_CC_GetImageBuffer配套使用) + * @param handle [IN] 设备句柄 + * @param pFrame [IN] 图像数据和图像数据 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 该接口与MV_CC_GetImageBuffer配套使用，使用MV_CC_GetImageBuffer接口取到的图像数据pFrame，需要用 #MV_CC_FreeImageBuffer 接口进行权限释放。 \n + 该接口对于取流效率高于GetOneFrameTimeout接口，且GetImageBuffer在不进行Free的情况下，最大支持输出的节点数与 #MV_CC_SetImageNodeNum 接口所设置的节点数相等，默认节点数是1。\n + 该接口对于U3V、GIGE设备均可支持。 \n + 该接口不支持CameraLink设备。 + + * @~english + * @brief Free image buffer(this interface can free image buffer, used with MV_CC_GetImageBuffer) + * @param handle [IN] Device handle + * @param pFrame [IN] Image data and image information + * @return Success, return #MV_OK. Failure, return error code + * @remarks This API and MV_CC_GetImageBuffer should be called in pairs, before calling MV_CC_GetImageBuffer to get image data pFrame, you should call #MV_CC_FreeImageBuffer to release the permission. \n + Compared with API MV_CC_GetOneFrameTimeout, this API has higher efficiency of image acquisition. The max. number of nodes can be outputted is same as the "nNum" of API #MV_CC_SetImageNodeNum, default value is 1. \n + This API is not supported by CameraLink device. \n + This API is supported by both USB3 vision camera and GigE camera. + **********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_FreeImageBuffer(IN void* handle, IN MV_FRAME_OUT* pFrame); + +/********************************************************************//** + * @~chinese + * @brief 采用超时机制获取一帧图片，SDK内部等待直到有数据时返回 + * @param handle [IN] 设备句柄 + * @param pData [OUT] 图像数据接收指针 + * @param nDataSize [IN] 接收缓存大小 + * @param pFrameInfo [OUT] 图像信息结构体 + * @param nMsec [IN] 等待超时时间 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 调用该接口获取图像数据帧之前需要先调用MV_CC_StartGrabbing启动图像采集。该接口为主动式获取帧数据，上层应用程序需要根据帧率，控制好调用该接口的频率。该接口支持设置超时时间，SDK内部等待直到有数据时返回，可以增加取流平稳性，适合用于对平稳性要求较高的场合。\n + 该接口对于U3V、GIGE设备均可支持。\n + 该接口不支持CameraLink设备。 + + * @~english + * @brief Timeout mechanism is used to get image, and the SDK waits inside until the data is returned + * @param handle [IN] Device handle + * @param pData [OUT] Image data receiving buffer + * @param nDataSize [IN] Buffer size + * @param pFrameInfo [OUT] Image information structure + * @param nMsec [IN] Waiting timeout + * @return Success, return #MV_OK. Failure, return error code + * @remarks Before calling this API to get image data frame, call MV_CC_StartGrabbing to start image acquisition. This API can get frame data actively, the upper layer program should control the frequency of calling this API according to the frame rate. This API supports setting timeout, SDK will wait to return until data appears. This function will increase the streaming stability, which can be used in the situation with high stability requirement. \n + Both the USB3Vision and GIGE camera can support this API. \n + This API is not supported by CameraLink device. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetOneFrameTimeout(IN void* handle, IN OUT unsigned char * pData , IN unsigned int nDataSize, IN OUT MV_FRAME_OUT_INFO_EX* pFrameInfo, unsigned int nMsec); + +/********************************************************************//** + * @~chinese + * @brief 清除取流数据缓存 + * @param handle [IN] 设备句柄 + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 该接口允许用户在不停止取流的时候，就能清除缓存中不需要的图像。\n + 该接口在连续模式切触发模式后，可以清除历史数据。 + + * @~english + * @brief if Image buffers has retrieved the data，Clear them + * @param handle [IN] Device handle + * @return Success, return MV_OK. Failure, return error code + * @remarks This interface allows user to clear the unnecessary images from the buffer memory without stopping acquisition. \n + This interface allows user to clear previous data after switching from continuous mode to trigger mode. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_ClearImageBuffer(IN void* handle); + +/********************************************************************//** + * @~chinese + * @brief 显示图像，注册显示窗口，内部自动显示（与MV_CC_GetImageBuffer不能同时使用） + * @param handle [IN] 句柄 + * @param hWnd [IN] 显示窗口句柄 + * @return 成功，返回#MV_OK；错误，返回错误码 + + * @~english + * @brief Display one frame image, register display window, automatic display internally + * @param handle [IN] Handle + * @param hWnd [IN] Display Window Handle + * @return Success, return #MV_OK. Failure, return error code + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_Display(IN void* handle, void* hWnd); + +/********************************************************************//** + * @~chinese + * @brief 显示一帧图像 + * @param handle [IN] 设备句柄 + * @param pDisplayInfo [IN] 图像信息 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 该接口对于U3V、GIGE设备均可支持。\n + 该接口不支持CameraLink设备。 + + * @~english + * @brief Display one frame image + * @param handle [IN] Device handle + * @param pDisplayInfo [IN] Frame Info + * @return Success, return #MV_OK. Failure, return error code + * @remarks This API is valid for USB3Vision camera and GIGE camera. \n + This API is not supported by CameraLink device. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_DisplayOneFrame(IN void* handle, IN MV_DISPLAY_FRAME_INFO* pDisplayInfo); + +/********************************************************************//** + * @~chinese + * @brief 设置SDK内部图像缓存节点个数，大于等于1，在抓图前调用 + * @param handle [IN] 设备句柄 + * @param nNum [IN] 缓存节点个数，范围[1,30]，默认为1 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 调用该接口可以设置SDK内部图像缓存节点个数，在调用MV_CC_StartGrabbing开始抓图前调用。\n + 增加图像缓存节点个数会增加SDK使用的内存，但是可以有效避免某些性能差的ARM板出现的跳帧现象。\n + 该接口不支持CameraLink设备。 + + * @~english + * @brief Set the number of the internal image cache nodes in SDK, Greater than or equal to 1, to be called before the capture + * @param handle [IN] Device handle + * @param nNum [IN] Image Node Number, range[1,30], default 1 + * @return Success, return #MV_OK. Failure, return error code + * @remarks Call this interface to set the number of SDK internal image buffer nodes. + The interface should be called before calling MV_CC_StartGrabbing for capturing. \n + Increasing the number of image cache nodes will increase the memory used by the SDK, + but it can effectively avoid frame skipping on some ARM boards with poor performance. \n + This API is not supported by CameraLink device. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetImageNodeNum(IN void* handle, unsigned int nNum); + +/********************************************************************//** + * @~chinese + * @brief 获取设备信息，取流之前调用 + * @param handle [IN] 设备句柄 + * @param pstDevInfo [IN][OUT] 返回给调用者有关相机设备信息结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 支持用户在打开设备后获取设备信息。\n + 若该设备是GigE相机，则调用该接口存在阻塞风险，因此不建议在取流过程中调用该接口。 + + * @~english + * @brief Get device information + * @param handle [IN] Device handle + * @param pstDevInfo [IN][OUT] Structure pointer of device information + * @return Success, return #MV_OK. Failure, return error code + * @remarks The API support users to access device information after opening the device. \n + If the device is a GigE camera, there is a blocking risk in calling the interface, so it is not recommended to call the interface during the fetching process. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetDeviceInfo(IN void * handle, IN OUT MV_CC_DEVICE_INFO* pstDevInfo); + +/********************************************************************//** + * @~chinese + * @brief 获取各种类型的信息 + * @param handle [IN] 设备句柄 + * @param pstInfo [IN][OUT] 返回给调用者有关相机各种类型的信息结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 接口里面输入需要获取的信息类型（指定MV_ALL_MATCH_INFO结构体中的nType类型），获取对应的信息（在MV_ALL_MATCH_INFO结构体中pInfo里返回）。 \n + 该接口的调用前置条件取决于所获取的信息类型，获取GigE设备的MV_MATCH_TYPE_NET_DETECT信息需在开启抓图之后调用，获取U3V设备的MV_MATCH_TYPE_USB_DETECT信息需在打开设备之后调用。 \n + 该接口不支持CameraLink设备。 + + * @~english + * @brief Get various type of information + * @param handle [IN] Device handle + * @param pstInfo [IN][OUT] Structure pointer of various type of information + * @return Success, return #MV_OK. Failure, return error code + * @remarks Input required information type (specify nType in structure MV_ALL_MATCH_INFO) in the interface and get corresponding information (return in pInfo of structure MV_ALL_MATCH_INFO). \n + The calling precondition of this interface is determined by obtained information type. Call after enabling capture to get MV_MATCH_TYPE_NET_DETECT information of GigE device, and call after starting device to get MV_MATCH_TYPE_USB_DETECT information of USB3Vision device. \n + This API is not supported by CameraLink device. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetAllMatchInfo(IN void* handle, IN OUT MV_ALL_MATCH_INFO* pstInfo); + +/************************************************************************/ +/* 设置和获取相机参数的万能接口 */ +/* General interface for getting and setting camera parameters */ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 获取Integer属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值，如获取宽度信息则为"Width" + * @param pIntValue [IN][OUT] 返回给调用者有关相机属性结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以获取int类型的指定节点的值。strKey取值可以参考XML节点参数类型列表， + * 表格里面数据类型为“IInteger”的节点值都可以通过该接口获取，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Get Integer value + * @param handle [IN] Device handle + * @param strKey [IN] Key value, for example, using "Width" to get width + * @param pIntValue [IN][OUT] Structure pointer of camera features + * @return Success, return #MV_OK. Failure, return error code + * @remarks You can call this API to get the value of camera node with integer type after connecting the device. + * For strKey value, refer to MvCameraNode. All the node values of "IInteger" in the list + * can be obtained via this API. strKey corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetIntValue(IN void* handle,IN const char* strKey,OUT MVCC_INTVALUE *pIntValue); + +/********************************************************************//** + * @~chinese + * @brief 获取Integer属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值，如获取宽度信息则为"Width" + * @param pIntValue [IN][OUT] 返回给调用者有关相机属性结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以获取int类型的指定节点的值。strKey取值可以参考XML节点参数类型列表， + * 表格里面数据类型为“IInteger”的节点值都可以通过该接口获取，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Get Integer value + * @param handle [IN] Device handle + * @param strKey [IN] Key value, for example, using "Width" to get width + * @param pIntValue [IN][OUT] Structure pointer of camera features + * @return Success, return #MV_OK. Failure, return error code + * @remarks You can call this API to get the value of camera node with integer type after connecting the device. + * For strKey value, refer to MvCameraNode. All the node values of "IInteger" in the list + * can be obtained via this API. strKey corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetIntValueEx(IN void* handle,IN const char* strKey,OUT MVCC_INTVALUE_EX *pIntValue); + +/********************************************************************//** + * @~chinese + * @brief 设置Integer型属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值，如获取宽度信息则为"Width" + * @param nValue [IN] 想要设置的相机的属性值 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以设置int类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IInteger”的节点值都可以通过该接口设置，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Set Integer value + * @param handle [IN] Device handle + * @param strKey [IN] Key value, for example, using "Width" to set width + * @param nValue [IN] Feature value to set + * @return Success, return #MV_OK. Failure, return error code + * @remarks You can call this API to set the value of camera node with integer type after connecting the device. For strKey value, refer to MvCameraNode. All the node values of "IInteger" in the list can be obtained via this API. strKey corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetIntValue(IN void* handle,IN const char* strKey,IN unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 设置Integer型属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值，如获取宽度信息则为"Width" + * @param nValue [IN] 想要设置的相机的属性值 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以设置int类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IInteger”的节点值都可以通过该接口设置，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Set Integer value + * @param handle [IN] Device handle + * @param strKey [IN] Key value, for example, using "Width" to set width + * @param nValue [IN] Feature value to set + * @return Success, return #MV_OK. Failure, return error code + * @remarks You can call this API to set the value of camera node with integer type after connecting the device. For strKey value, refer to MvCameraNode. All the node values of "IInteger" in the list can be obtained via this API. strKey corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetIntValueEx(IN void* handle,IN const char* strKey,IN int64_t nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取Enum属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值，如获取像素格式信息则为"PixelFormat" + * @param pEnumValue [IN][OUT] 返回给调用者有关相机属性结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以获取Enum类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IEnumeration”的节点值都可以通过该接口获取，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Get Enum value + * @param handle [IN] Device handle + * @param strKey [IN] Key value, for example, using "PixelFormat" to get pixel format + * @param pEnumValue [IN][OUT] Structure pointer of camera features + * @return Success, return #MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to get specified Enum nodes. For value of strKey, see MvCameraNode, The node values of IEnumeration can be obtained through this interface, strKey value corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetEnumValue(IN void* handle,IN const char* strKey,OUT MVCC_ENUMVALUE *pEnumValue); + +/********************************************************************//** + * @~chinese + * @brief 设置Enum型属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值，如获取像素格式信息则为"PixelFormat" + * @param nValue [IN] 想要设置的相机的属性值 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以设置Enum类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IEnumeration”的节点值都可以通过该接口设置，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Set Enum value + * @param handle [IN] Device handle + * @param strKey [IN] Key value, for example, using "PixelFormat" to set pixel format + * @param nValue [IN] Feature value to set + * @return Success, return #MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to set specified Enum nodes. For value of strKey, see MvCameraNode, The node values of IEnumeration can be obtained through this interface, strKey value corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetEnumValue(IN void* handle,IN const char* strKey,IN unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 设置Enum型属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值，如获取像素格式信息则为"PixelFormat" + * @param sValue [IN] 想要设置的相机的属性字符串 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以设置Enum类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IEnumeration”的节点值都可以通过该接口设置，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Set Enum value + * @param handle [IN] Device handle + * @param strKey [IN] Key value, for example, using "PixelFormat" to set pixel format + * @param sValue [IN] Feature String to set + * @return Success, return #MV_OK. Failure, return error code + * @remarks Call this API after connecting the device. All the values of nodes with IEnumeration type can be set via this API. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetEnumValueByString(IN void* handle,IN const char* strKey,IN const char* sValue); + +/********************************************************************//** + * @~chinese + * @brief 获取Float属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值 + * @param pFloatValue [IN][OUT] 返回给调用者有关相机属性结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以获取float类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IFloat”的节点值都可以通过该接口获取，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Get Float value + * @param handle [IN] Device handle + * @param strKey [IN] Key value + * @param pFloatValue [IN][OUT] Structure pointer of camera features + * @return Success, return #MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to get specified float node. For detailed strKey value see: MvCameraNode. The node values of IFloat can be obtained through this interface, strKey value corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetFloatValue(IN void* handle,IN const char* strKey,OUT MVCC_FLOATVALUE *pFloatValue); + +/********************************************************************//** + * @~chinese + * @brief 设置float型属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值 + * @param fValue [IN] 想要设置的相机的属性值 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以设置float类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IFloat”的节点值都可以通过该接口设置，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Set float value + * @param handle [IN] Device handle + * @param strKey [IN] Key value + * @param fValue [IN] Feature value to set + * @return Success, return #MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to set specified float node. For detailed strKey value see: MvCameraNode. The node values of IFloat can be set through this interface, strKey value corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetFloatValue(IN void* handle,IN const char* strKey,IN float fValue); + +/********************************************************************//** + * @~chinese + * @brief 获取Boolean属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值 + * @param pBoolValue [IN][OUT] 返回给调用者有关相机属性值 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以获取bool类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IBoolean”的节点值都可以通过该接口获取，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Get Boolean value + * @param handle [IN] Device handle + * @param strKey [IN] Key value + * @param pBoolValue [IN][OUT] Structure pointer of camera features + * @return Success, return #MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to get specified bool nodes. For value of strKey, see MvCameraNode. The node values of IBoolean can be obtained through this interface, strKey value corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetBoolValue(IN void* handle,IN const char* strKey,OUT bool *pBoolValue); + +/********************************************************************//** + * @~chinese + * @brief 设置Boolean型属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值 + * @param bValue [IN] 想要设置的相机的属性值 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以设置bool类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IBoolean”的节点值都可以通过该接口设置，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Set Boolean value + * @param handle [IN] Device handle + * @param strKey [IN] Key value + * @param bValue [IN] Feature value to set + * @return Success, return #MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to set specified bool nodes. For value of strKey, see MvCameraNode. The node values of IBoolean can be set through this interface, strKey value corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetBoolValue(IN void* handle,IN const char* strKey,IN bool bValue); + +/********************************************************************//** + * @~chinese + * @brief 获取String属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值 + * @param pStringValue [IN][OUT] 返回给调用者有关相机属性结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以获取string类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IString”的节点值都可以通过该接口获取，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Get String value + * @param handle [IN] Device handle + * @param strKey [IN] Key value + * @param pStringValue [IN][OUT] Structure pointer of camera features + * @return Success, return #MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to get specified string nodes. For value of strKey, see MvCameraNode. The node values of IString can be obtained through this interface, strKey value corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetStringValue(IN void* handle,IN const char* strKey,OUT MVCC_STRINGVALUE *pStringValue); + +/********************************************************************//** + * @~chinese + * @brief 设置String型属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值 + * @param sValue [IN] 想要设置的相机的属性值 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以设置string类型的指定节点的值。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“IString”的节点值都可以通过该接口设置，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Set String value + * @param handle [IN] Device handle + * @param strKey [IN] Key value + * @param sValue [IN] Feature value to set + * @return Success, return #MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to set specified string nodes. For value of strKey, see MvCameraNode. The node values of IString can be set through this interface, strKey value corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetStringValue(IN void* handle,IN const char* strKey,IN const char * sValue); + +/********************************************************************//** + * @~chinese + * @brief 设置Command型属性值 + * @param handle [IN] 设备句柄 + * @param strKey [IN] 属性键值 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 连接设备之后调用该接口可以设置指定的Command类型节点。strKey取值可以参考XML节点参数类型列表，表格里面数据类型为“ICommand”的节点都可以通过该接口设置，strKey参数取值对应列表里面的“名称”一列。 + + * @~english + * @brief Send Command + * @param handle [IN] Device handle + * @param strKey [IN] Key value + * @return Success, return #MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to set specified Command nodes. For value of strKey, see MvCameraNode. The node values of ICommand can be set through this interface, strKey value corresponds to the Name column. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetCommandValue(IN void* handle,IN const char* strKey); + +/********************************************************************//** + * @~chinese + * @brief 清除GenICam节点缓存 + * @param handle [IN] 设备句柄 + * @return 成功，返回#MV_OK；错误，返回错误码 + + * @~english + * @brief Invalidate GenICam Nodes + * @param handle [IN] Device handle + * @return Success, return #MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_InvalidateNodes(IN void* handle); + + +/************************************************************************/ +/* 设备升级 和 寄存器读写 和异常、事件回调 */ +/* Device upgrade, register read and write and exception callback */ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 设备本地升级 + * @param handle [IN] 设备句柄 + * @param pFilePathName [IN] 文件名 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 通过该接口可以将升级固件文件发送给设备进行升级。该接口需要等待升级固件文件成功传给设备端之后再返回，响应时间可能较长。 + + * @~english + * @brief Device Local Upgrade + * @param handle [IN] Device handle + * @param pFilePathName [IN] File name + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_LocalUpgrade(IN void* handle, const void *pFilePathName); + +/********************************************************************//** + * @~chinese + * @brief 获取升级进度 + * @param handle [IN] 设备句柄 + * @param pnProcess [OUT] 进度接收地址 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 获取升级进度百分值。 + + * @~english + * @brief Get Upgrade Progress + * @param handle [IN] Device handle + * @param pnProcess [OUT] Progress receiving address + * @return Success, return #MV_OK. Failure, return error code + * @remarks Call this API to send the upgrade firmware to the device for upgrade. This API will wait for return until the upgrade firmware is sent to the device, this response may take a long time. \n + For CameraLink device, it keeps sending upgrade firmware continuously. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetUpgradeProcess(IN void* handle, unsigned int* pnProcess); + +/********************************************************************//** + * @~chinese + * @brief 读内存 + * @param handle [IN] 设备句柄 + * @param pBuffer [IN][OUT] 作为返回值使用，保存读到的内存值（内存值是按照大端模式存储的） + * @param nAddress [IN] 待读取的内存地址，该地址可以从设备的Camera.xml文件中获取，形如xxx_RegAddr的xml节点值 + * @param nLength [IN] 待读取的内存长度 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 访问设备，读取某段寄存器的数据。 + + * @~english + * @brief Read Memory + * @param handle [IN] Device Handle + * @param pBuffer [IN][OUT] Used as a return value, save the read-in memory value ( Memory value is stored in accordance with the big end model) + * @param nAddress [IN] Memory address to be read, which can be obtained from the Camera.xml file of the device, the form xml node value of xxx_RegAddr + * @param nLength [IN] Length of the memory to be read + * @return Success, return #MV_OK. Failure, return error code + * @remarks Access device, read the data from certain register. +*************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_ReadMemory(IN void* handle , void *pBuffer, int64_t nAddress, int64_t nLength); + +/********************************************************************//** + * @~chinese + * @brief 写内存 + * @param handle [IN] 设备句柄 + * @param pBuffer [IN] 待写入的内存值（注意内存值要按照大端模式存储） + * @param nAddress [IN] 待写入的内存地址，该地址可以从设备的Camera.xml文件中获取，形如xxx_RegAddr的xml节点值 + * @param nLength [IN] 待写入的内存长度 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 访问设备，把一段数据写入某段寄存器。 + + * @~english + * @brief Write Memory + * @param handle [IN] Device Handle + * @param pBuffer [IN] Memory value to be written ( Note the memory value to be stored in accordance with the big end model) + * @param nAddress [IN] Memory address to be written, which can be obtained from the Camera.xml file of the device, the form xml node value of xxx_RegAddr + * @param nLength [IN] Length of the memory to be written + * @return Success, return #MV_OK. Failure, return error code + * @remarks Access device, write a piece of data into a certain segment of register. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_WriteMemory(IN void* handle , const void *pBuffer, int64_t nAddress, int64_t nLength); + +/********************************************************************//** + * @~chinese + * @brief 注册异常消息回调，在打开设备之后调用 + * @param handle [IN] 设备句柄 + * @param cbException [IN] 异常回调函数指针 + * @param pUser [IN] 用户自定义变量 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 该接口需要在MV_CC_OpenDevice打开设备之后调用。设备异常断开连接后可以在回调里面获取到异常消息，GigE设备掉线之后需要先调用MV_CC_CloseDevice接口关闭设备，再调用MV_CC_OpenDevice接口重新打开设备。 + + * @~english + * @brief Register Exception Message CallBack, call after open device + * @param handle [IN] Device handle + * @param cbException [IN] Exception Message CallBack Function Pointer + * @param pUser [IN] User defined variable + * @return Success, return #MV_OK. Failure, return error code + * @remarks Call this interface after the device is opened by MV_CC_OpenDevice. When device is exceptionally disconnected, the exception message can be obtained from callback function. For Disconnected GigE device, first call MV_CC_CloseDevice to shut device, and then call MV_CC_OpenDevice to reopen the device. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_RegisterExceptionCallBack(IN void* handle, + void(__stdcall* cbException)(unsigned int nMsgType, void* pUser), void* pUser); + +/********************************************************************//** + * @~chinese + * @brief 注册全部事件回调，在打开设备之后调用 + * @param handle [IN] 设备句柄 + * @param cbEvent [IN] 事件回调函数指针 + * @param pUser [IN] 用户自定义变量 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 通过该接口设置事件回调，可以在回调函数里面获取采集、曝光等事件信息。 \n + 该接口不支持CameraLink设备。\n + 该接口仅在windows版本和Linux版本下支持。 + + * @~english + * @brief Register event callback, which is called after the device is opened + * @param handle [IN] Device handle + * @param cbEvent [IN] Event CallBack Function Pointer + * @param pUser [IN] User defined variable + * @return Success, return #MV_OK. Failure, return error code + * @remarks Call this API to set the event callback function to get the event information, e.g., acquisition, exposure, and so on. \n + This API is not supported by CameraLink device. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_RegisterAllEventCallBack(void* handle, void(__stdcall* cbEvent)(MV_EVENT_OUT_INFO * pEventInfo, void* pUser), void* pUser); + +/********************************************************************//** + * @~chinese + * @brief 注册单个事件回调，在打开设备之后调用 + * @param handle [IN] 设备句柄 + * @param pEventName [IN] 事件名称 + * @param cbEvent [IN] 事件回调函数指针 + * @param pUser [IN] 用户自定义变量 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 通过该接口设置事件回调，可以在回调函数里面获取采集、曝光等事件信息。\n + 该接口不支持CameraLink设备，仅支持"设备掉线"这一种事件。 + + * @~english + * @brief Register single event callback, which is called after the device is opened + * @param handle [IN] Device handle + * @param pEventName [IN] Event name + * @param cbEvent [IN] Event CallBack Function Pointer + * @param pUser [IN] User defined variable + * @return Success, return #MV_OK. Failure, return error code + * @remarks Call this API to set the event callback function to get the event information, e.g., acquisition, exposure, and so on. \n + This API is not supported by CameraLink device . +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_RegisterEventCallBackEx(void* handle, const char* pEventName, + void(__stdcall* cbEvent)(MV_EVENT_OUT_INFO * pEventInfo, void* pUser), void* pUser); + + +/************************************************************************/ +/* GigEVision 设备独有的接口 */ +/* GigEVision device specific interface */ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 强制IP + * @param handle [IN] 设备句柄 + * @param nIP [IN] 设置的IP + * @param nSubNetMask [IN] 子网掩码 + * @param nDefaultGateWay [IN] 默认网关 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 强制设置相机网络参数（包括IP、子网掩码、默认网关），强制设置之后将需要重新创建设备句柄，仅GigEVision相机支持。\n + 如果设备为DHCP的状态，调用该接口强制设置相机网络参数之后设备将会重启。 + + * @~english + * @brief Force IP + * @param handle [IN] Device handle + * @param nIP [IN] IP to set + * @param nSubNetMask [IN] Subnet mask + * @param nDefaultGateWay [IN] Default gateway + * @return Success, return #MV_OK. Failure, return error code + * @remarks Force setting camera network parameter (including IP address, subnet mask, default gateway). After forced setting, device handle should be created again. This function is only supported by GigEVision camera.\n + If device is in DHCP status, after calling this API to force setting camera network parameter, the device will restart. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_ForceIpEx(IN void* handle, unsigned int nIP, unsigned int nSubNetMask, unsigned int nDefaultGateWay); + +/********************************************************************//** + * @~chinese + * @brief 配置IP方式 + * @param handle [IN] 设备句柄 + * @param nType [IN] IP类型，见MV_IP_CFG_x + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 发送命令设置相机的IP方式，如DHCP、LLA等，仅GigEVision相机支持。 + + * @~english + * @brief IP configuration method + * @param handle [IN] Device handle + * @param nType [IN] IP type, refer to MV_IP_CFG_x + * @return Success, return #MV_OK. Failure, return error code + * @remarks Send command to set camera IP mode, such as DHCP and LLA, only supported by GigEVision. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetIpConfig(IN void* handle, unsigned int nType); + +/********************************************************************//** + * @~chinese + * @brief 设置仅使用某种模式,type: MV_NET_TRANS_x，不设置时，默认优先使用driver + * @param handle [IN] 设备句柄 + * @param nType [IN] 网络传输模式，见MV_NET_TRANS_x + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 通过该接口可以设置SDK内部优先使用的网络模式，默认优先使用驱动模式，仅GigEVision相机支持。 + + * @~english + * @brief Set to use only one mode,type: MV_NET_TRANS_x. When do not set, priority is to use driver by default + * @param handle [IN] Device handle + * @param nType [IN] Net transmission mode, refer to MV_NET_TRANS_x + * @return Success, return #MV_OK. Failure, return error code + * @remarksSet SDK internal priority network mode through this interface, drive mode by default, only supported by GigEVision camera. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetNetTransMode(IN void* handle, unsigned int nType); + +/********************************************************************//** + * @~chinese + * @brief 获取网络传输信息 + * @param handle [IN] 设备句柄 + * @param pstInfo [OUT] 信息结构体 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 通过该接口可以获取网络传输相关信息，包括已接收数据大小、丢帧数量等，在MV_CC_StartGrabbing开启采集之后调用。仅GigEVision相机支持。 + + * @~english + * @brief Get net transmission information + * @param handle [IN] Device handle + * @param pstInfo [OUT] Information Structure + * @return Success, return #MV_OK. Failure, return error code + * @remarks Get network transmission information through this API, including received data size, number of lost frames. Call this API after starting image acquiring through MV_CC_StartGrabbing. This API is supported only by GigEVision Camera. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_GetNetTransInfo(IN void* handle, MV_NETTRANS_INFO* pstInfo); + +/********************************************************************//** + * @~chinese + * @brief 设置GVSP取流超时时间 + * @param handle [IN] 设备句柄 + * @param nMillisec [IN] 超时时间，默认300ms，范围：>10ms + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 连接设备之后，取流动作发生前，调用该接口可以设置GVSP取流超时时间。GVSP取流超时设置过短可能造成图像异常，设置过长可能造成取流时间变长。 + + * @~english + * @brief Set GVSP streaming timeout + * @param handle [IN] Device handle + * @param nMillisec [IN] Timeout, default 300ms, range: >10ms + * @return Success, return MV_OK. Failure, return error code + * @remarks After the device is connected, and just before start streaming, + * call this interface to set GVSP streaming timeout value. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetGvspTimeout(void* handle, unsigned int nMillisec); + +/********************************************************************//** + * @~chinese + * @brief 获取GVSP取流超时时间 + * @param handle [IN] 设备句柄 + * @param pnMillisec [IN] 超时时间指针，以毫秒位单位 + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 该接口用于获取当前的GVSP取流超时时间 + + * @~english + * @brief Get GVSP streaming timeout + * @param handle [IN] Device handle + * @param pnMillisec [IN] Timeout, ms as unit + * @return Success, return MV_OK. Failure, return error code + * @remarks This interface is used to get the current GVSP streaming timeout. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_GetGvspTimeout(IN void* handle, unsigned int* pnMillisec); + +/********************************************************************//** + * @~chinese + * @brief 设置GVCP命令超时时间 + * @param handle [IN] 设备句柄 + * @param nMillisec [IN] 超时时间，默认500ms，范围：0-10000ms + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 连接设备之后调用该接口可以设置GVCP命令超时时间。 + + * @~english + * @brief Set GVCP cammand timeout + * @param handle [IN] Device handle + * @param nMillisec [IN] Timeout, default 500ms, range: 0-10000ms + * @return Success, return MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to set GVCP command timeout time. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetGvcpTimeout(void* handle, unsigned int nMillisec); + +/********************************************************************//** + * @~chinese + * @brief 获取GVCP命令超时时间 + * @param handle [IN] 设备句柄 + * @param pnMillisec [OUT] 超时时间指针，以毫秒位单位 + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 该接口用于获取当前的GVCP超时时间。 + + * @~english + * @brief Get GVCP cammand timeout + * @param handle [IN] Device handle + * @param pnMillisec [OUT] Timeout, ms as unit + * @return Success, return MV_OK. Failure, return error code + * @remarks This interface is used to get the current GVCP timeout. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_GetGvcpTimeout(IN void* handle, unsigned int* pnMillisec); + +/********************************************************************//** + * @~chinese + * @brief 设置重传GVCP命令次数 + * @param handle [IN] 设备句柄 + * @param nRetryGvcpTimes [IN] 重传次数，范围：0-100 + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 该接口用于在GVCP包传输异常时，增加重传的次数，在一定程度上可以避免设备掉线，范围为0-100。 + + * @~english + * @brief Set the number of retry GVCP cammand + * @param handle [IN] Device handle + * @param nRetryGvcpTimes [IN] The number of retries，rang：0-100 + * @return Success, return MV_OK. Failure, return error code + * @remarks This interface is used to increase The Times of retransmission when GVCP packet transmission is abnormal,and to some extent, it can avoid dropping the camera, with a range of 0-100. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetRetryGvcpTimes(IN void* handle, unsigned int nRetryGvcpTimes); + +/********************************************************************//** + * @~chinese + * @brief 获取重传GVCP命令次数 + * @param handle [IN] 设备句柄 + * @param pnRetryGvcpTimes [OUT] 重传次数指针 + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 该接口用于获取当前的GVCP重传次数，默认3次。 + + * @~english + * @brief Get the number of retry GVCP cammand + * @param handle [IN] Device handle + * @param pnRetryGvcpTimes [OUT] The number of retries + * @return Success, return MV_OK. Failure, return error code + * @remarks This interface is used to get the current number of GVCP retransmissions, which defaults to 3. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_GetRetryGvcpTimes(IN void* handle, unsigned int* pnRetryGvcpTimes); + +/********************************************************************//** + * @~chinese + * @brief 获取最佳的packet size，该接口目前只支持GigE设备 + * @param handle [IN] 设备句柄 + * @return 最佳packetsize + * @remarks 获取最佳的packet size，对应GigEVision设备是SCPS，对应U3V设备是每次从驱动读取的包大小，该大小即网络上传输一个包的大小。该接口需要在MV_CC_OpenDevice之后、MV_CC_StartGrabbing之前调用。 \n + 该接口不支持CameraLink设备。 + + * @~english + * @brief Get the optimal Packet Size, Only support GigE Camera + * @param handle [IN] Device handle + * @return Optimal packetsize + * @remarks To get optimized packet size, for GigEVision device is SCPS, for USB3Vision device is the size of packet read from drive each time, and it is the size of a packet transported on the network. The interface should be called after MV_CC_OpenDevice and before MV_CC_StartGrabbing. \n + This API is not supported by CameraLink device. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetOptimalPacketSize(IN void* handle); + +/********************************************************************//** + * @~chinese + * @brief 设置是否打开重发包支持，及重发包设置 + * @param handle [IN] 设备句柄 + * @param bEnable [IN] 是否支持重发包 + * @param nMaxResendPercent [IN] 最大重发比 + * @param nResendTimeout [IN] 重发超时时间 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 连接设备之后调用该接口可以设置重发包属性，仅GigEVision相机支持。 \n + 该接口仅在windows版本和Linux版本下支持。 + + * @~english + * @brief Set whethe to enable resend, and set resend + * @param handle [IN] Device handle + * @param bEnable [IN] enable resend + * @param nMaxResendPercent [IN] Max resend persent + * @param nResendTimeout [IN] Resend timeout + * @return Success, return #MV_OK. Failure, return error code + * @remarks After the device is connected, call this interface to set resend packet properties, only supported by GigEVision camera. + ************************************************************************/ +#ifndef __cplusplus +MV_CAMCTRL_API int __stdcall MV_GIGE_SetResend(void* handle, unsigned int bEnable, unsigned int nMaxResendPercent, unsigned int nResendTimeout); +#else +MV_CAMCTRL_API int __stdcall MV_GIGE_SetResend(void* handle, unsigned int bEnable, unsigned int nMaxResendPercent = 10, unsigned int nResendTimeout = 50); +#endif + + +/********************************************************************//** + * @~chinese + * @brief 设置重传命令最大尝试次数 + * @param handle [IN] 设备句柄 + * @param nRetryTimes [IN] 重传命令最大尝试次数，默认20 + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 该接口必须在MV_CC_StartGrabbing之前调用，否则返回错误码MV_E_CALLORDER。 + + * @~english + * @brief set the max resend retry times + * @param handle [IN] Device handle + * @param nRetryTimes [IN] the max times to retry resending lost packets，default 20 + * @return Success, return MV_OK. Failure, return error code + * @remarks This interface must be called before MV_CC_StartGrabbing. Otherwise return MV_E_CALLORDER. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetResendMaxRetryTimes(void* handle, unsigned int nRetryTimes); + +/********************************************************************//** + * @~chinese + * @brief 获取重传命令最大尝试次数 + * @param handle [IN] 设备句柄 + * @param pnRetryTimes [IN] 重传命令最大尝试次数 + * @return 成功，返回MV_OK；错误，返回错误码 + + * @~english + * @brief get the max resend retry times + * @param handle [IN] Device handle + * @param pnRetryTimes [OUT] the max times to retry resending lost packets + * @return Success, return MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_GetResendMaxRetryTimes(void* handle, unsigned int* pnRetryTimes); + +/********************************************************************//** + * @~chinese + * @brief 设置同一重传包多次请求之间的时间间隔 + * @param handle [IN] 设备句柄 + * @param nMillisec [IN] 同一重传包多次请求之间的时间间隔，默认10ms + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 该接口必须在MV_CC_StartGrabbing之前调用，否则返回错误码MV_E_CALLORDER。 + + * @~english + * @brief set time interval between same resend requests + * @param handle [IN] Device handle + * @param nMillisec [OUT] the time interval between same resend requests, default 10ms + * @return Success, return MV_OK. Failure, return error code + * @remarks This interface must be called before MV_CC_StartGrabbing. Otherwise return MV_E_CALLORDER. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetResendTimeInterval(void* handle, unsigned int nMillisec); + +/********************************************************************//** + * @~chinese + * @brief 获取同一重传包多次请求之间的时间间隔 + * @param handle [IN] 设备句柄 + * @param pnMillisec [IN] 同一重传包多次请求之间的时间间隔 + * @return 成功，返回MV_OK；错误，返回错误码 + + * @~english + * @brief get time interval between same resend requests + * @param handle [IN] Device handle + * @param pnMillisec [OUT] the time interval between same resend requests + * @return Success, return MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_GetResendTimeInterval(void* handle, unsigned int* pnMillisec); + + +/********************************************************************//** + * @~chinese + * @brief 设置传输模式，可以为单播模式、组播模式等 + * @param handle [IN] 设备句柄 + * @param pstTransmissionType [IN] 传输模式结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 通过该接口可以设置传输模式为单播、组播等模式，仅GigEVision相机支持。 + + * @~english + * @brief Set transmission type,Unicast or Multicast + * @param handle [IN] Device handle + * @param pstTransmissionType [IN] Struct of transmission type + * @return Success, return #MV_OK. Failure, return error code + * @remarks Call this API to set the transmission mode as single cast mode and multicast mode. And this API is only valid for GigEVision camera. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetTransmissionType(void* handle, MV_TRANSMISSION_TYPE * pstTransmissionType); + +/********************************************************************//** + * @~chinese + * @brief 发出动作命令 + * @param pstActionCmdInfo [IN] 动作命令信息 + * @param pstActionCmdResults [OUT] 动作命令返回信息列表 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 仅GigEVision相机支持。 + + * @~english + * @brief Issue Action Command + * @param pstActionCmdInfo [IN] Action Command + * @param pstActionCmdResults [OUT] Action Command Result List + * @return Success, return #MV_OK. Failure, return error code + * @remarks This API is supported only by GigEVision camera. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_IssueActionCommand(IN MV_ACTION_CMD_INFO* pstActionCmdInfo, OUT MV_ACTION_CMD_RESULT_LIST* pstActionCmdResults); + +/************************************************************************/ +/* XML解析树的生成 */ +/* XML parse tree generation */ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 获取相机属性树XML + * @param handle [IN] 设备句柄 + * @param pData [OUT] XML数据接收缓存 + * @param nDataSize [IN] 接收缓存大小 + * @param pnDataLen [OUT] 实际数据大小 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 当pData为NULL或nDataSize比实际的xml文件小时，不拷贝数据，由pnDataLen返回xml文件大小；\n + 当pData为有效缓存地址，且缓存足够大时，拷贝完整数据保存在该缓存里面，并由pnDataLen返回xml文件实际大小。 + + * @~english + * @brief Get camera feature tree XML + * @param handle [IN] Device handle + * @param pData [OUT] XML data receiving buffer + * @param nDataSize [IN] Buffer size + * @param pnDataLen [OUT] Actual data length + * @return Success, return #MV_OK. Failure, return error code + * @remarks * @remarks When pData is NULL or nDataSize than the actual XML file hours, do not copy the data, returned by pnDataLen XML file size.\n + When pData is a valid cache address and the cache is large enough, copy the full data into the cache, and pnDataLen returns the actual size of the XML file. + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_XML_GetGenICamXML(IN void* handle, IN OUT unsigned char* pData, IN unsigned int nDataSize, OUT unsigned int* pnDataLen); + +/************************************************************************/ +/* 附加接口 */ +/* Additional interface */ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 保存图片，支持Bmp和Jpeg.编码质量在50-99之前 + * @param handle [IN] 设备句柄 + * @param pSaveParam [IN][OUT] 保存图片参数结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 通过将接口可以将从设备采集到的原始图像数据转换成JPEG或者BMP等格式并存放在指定内存中，然后用户可以将转换之后的数据直接保存成图片文件。该接口调用无接口顺序要求，有图像源数据就可以进行转换，可以先调用MV_CC_GetOneFrameTimeout或者MV_CC_RegisterImageCallBackEx设置回调函数，获取一帧图像数据，然后再通过该接口转换格式。 \n + MV_CC_SaveImageEx2比MV_CC_SaveImageEx增加参数handle，为了保证与其他接口的统一。\n + 该接口仅在windows版本和Linux版本下支持。 + + * @~english + * @brief Save image, support Bmp and Jpeg. Encoding quality(50-99] + * @param handle [IN] Device handle + * @param pSaveParam [IN][OUT] Save image parameters structure + * @return Success, return #MV_OK. Failure, return error code + * @remarks Once there is image data, you can call this API to convert the data. \n + You can also call MV_CC_GetOneFrameTimeout or MV_CC_RegisterImageCallBackEx or MV_CC_GetImageBuffer to get one image frame and set the callback function, and then call this API to convert the format. \n + Comparing with the API MV_CC_SaveImageEx, this API added the parameter handle to ensure the unity with other API. + + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SaveImageEx2(IN void* handle, MV_SAVE_IMAGE_PARAM_EX* pSaveParam); + + +/********************************************************************//** + * @~chinese + * @brief 图像旋转 + * @param handle [IN] 设备句柄 + * @param pstRotateParam [IN][OUT] 图像旋转参数结构体 + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 该接口只支持MONO8/RGB24/BGR24格式数据的90/180/270度旋转。 + + * @~english + * @brief Rotate Image + * @param handle [IN] Device handle + * @param pstRotateParam [IN][OUT] Rotate image parameter structure + * @return Success, return MV_OK. Failure, return error code + * @remarks This API only support 90/180/270 rotation of data in the MONO8/RGB24/BGR24 format. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_RotateImage(IN void* handle, IN OUT MV_CC_ROTATE_IMAGE_PARAM* pstRotateParam); + +/********************************************************************//** + * @~chinese + * @brief 图像翻转 + * @param handle [IN] 设备句柄 + * @param pstFlipParam [IN][OUT] 图像翻转参数结构体 + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 该接口只支持MONO8/RGB24/BGR24格式数据的垂直和水平翻转。 + + * @~english + * @brief Flip Image + * @param handle [IN] Device handle + * @param pstFlipParam [IN][OUT] Flip image parameter structure + * @return Success, return MV_OK. Failure, return error code + * @remarks This API only support vertical and horizontal reverse of data in the MONO8/RGB24/BGR24 format. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_FlipImage(IN void* handle, IN OUT MV_CC_FLIP_IMAGE_PARAM* pstFlipParam); + +/********************************************************************//** + * @~chinese + * @brief 像素格式转换 + * @param handle [IN] 设备句柄 + * @param pstCvtParam [IN][OUT] 像素格式转换参数结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 通过将接口可以将从设备采集到的原始图像数据转换成用户所需的像素格式并存放在指定内存中。该接口调用无接口顺序要求，有图像源数据就可以进行转换，可以先调用MV_CC_GetOneFrameTimeout或者MV_CC_RegisterImageCallBack设置回调函数，获取一帧图像数据，然后再通过该接口转换格式。如果相机当前采集图像是JPEG压缩的格式，则不支持调用该接口进行显示。 \n + 该接口仅在windows版本和Linux版本下支持。 + + * @~english + * @brief Pixel format conversion + * @param handle [IN] Device handle + * @param pstCvtParam [IN][OUT] Convert Pixel Type parameter structure + * @return Success, return #MV_OK. Failure, return error code + * @remarks This API is used to transform the collected original data to pixel format and save to specified memory. There is no order requirement to call this API, the transformation will execute when there is image data. First call MV_CC_GetOneFrameTimeout or MV_CC_RegisterImageCallBackEx to set callback function, and get a frame of image data, then call this API to transform the format. \n + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_ConvertPixelType(IN void* handle, IN OUT MV_CC_PIXEL_CONVERT_PARAM* pstCvtParam); + +/********************************************************************//** + * @~chinese + * @brief 插值算法类型设置 + * @param handle [IN] 设备句柄 + * @param BayerCvtQuality [IN] Bayer的插值方法 0-最近邻 1-双线性 2-Hamilton + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks 设置内部图像转换接口的贝尔插值质量参数，MV_CC_ConvertPixelType、MV_CC_SaveImageEx2接口内部使用的插值算法是该接口所设定的。 + + * @~english + * @brief Interpolation algorithm type setting + * @param handle [IN] Device handle + * @param BayerCvtQuality [IN] Bayer interpolation method 0-nearest neighbour 1-bilinearity 2-Hamilton + * @return Success, return #MV_OK. Failure, return error code + * @remarks Set the bell interpolation quality parameters of the internal image conversion interface, and the interpolation algorithm used in the MV CC ConvertPixelType and MV CC SaveImageEx2 interfaces is set by this interface. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetBayerCvtQuality(IN void* handle, IN unsigned int BayerCvtQuality); + +/********************************************************************//** + * @~chinese + * @brief 设置Bayer格式的Gamma信息 + * @param handle [IN] 设备句柄 + * @param pstGammaParam [IN] Gamma信息 + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 设置该信息后，在调用MV_CC_ConvertPixelType、MV_CC_SaveImageEx2接口将Bayer8/10/12/16格式转成RGB24/48， RGBA32/64，BGR24/48，BGRA32/64时起效。 + + * @~english + * @brief Set Gamma param + * @param handle [IN] Device handle + * @param pstGammaParam [IN] Gamma param + * @return Success, return MV_OK. Failure, return error code + * @remarks After setting the param, it work in the calling MV_CC_ConvertPixelType\MV_CC_SaveImageEx2 API convert Bayer8/10/12/16 to RGB24/48， RGBA32/64，BGR24/48，BGRA32/64. + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetBayerGammaParam(IN void* handle, IN MV_CC_GAMMA_PARAM* pstGammaParam); + + +/********************************************************************//** + * @~chinese + * @brief 无损解码 + * @param handle [IN] 设备句柄 + * @param pstDecodeParam [IN][OUT] 无损解码参数结构体 + * @return 成功，返回MV_OK；错误，返回错误码 + * @remarks 将从相机中取到的无损压缩码流解码成裸数据，同时支持解析当前相机实时图像的水印信息（如果输入的无损码流不是当前相机或者不是实时取流的，则水印解析可能异常） + + * @~english + * @brief High Bandwidth Decode + * @param handle [IN] Device handle + * @param pstDecodeParam [IN][OUT] High Bandwidth Decode parameter structure + * @return Success, return MV_OK. Failure, return error code + * @remarks Decode the lossless compressed data from the camera into raw data + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_HB_Decode(IN void* handle, IN OUT MV_CC_HB_DECODE_PARAM* pstDecodeParam); + +/********************************************************************//** + * @~chinese + * @brief 保存相机属性 + * @param handle [IN] 设备句柄 + * @param pFileName [IN] 属性文件名 + * @return 成功，返回#MV_OK；错误，返回错误码 + + * @~english + * @brief Save camera feature + * @param handle [IN] Device handle + * @param pFileName [IN] File name + * @return Success, return #MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_FeatureSave(IN void* handle, IN const char* pFileName); + +/********************************************************************//** + * @~chinese + * @brief 导入相机属性 + * @param handle [IN] 设备句柄 + * @param pFileName [IN] 属性文件名 + * @return 成功，返回#MV_OK；错误，返回错误码 + + * @~english + * @brief Load camera feature + * @param handle [IN] Device handle + * @param pFileName [IN] File name + * @return Success, return #MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_FeatureLoad(IN void* handle, IN const char* pFileName); + +/********************************************************************//** + * @~chinese + * @brief 从相机读取文件 + * @param handle [IN] 设备句柄 + * @param pstFileAccess [IN] 文件存取结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + + * @~english + * @brief Read the file from the camera + * @param handle [IN] Device handle + * @param pstFileAccess [IN] File access structure + * @return Success, return #MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_FileAccessRead(IN void* handle, IN MV_CC_FILE_ACCESS * pstFileAccess); + +/********************************************************************//** + * @~chinese + * @brief 将文件写入相机 + * @param handle [IN] 设备句柄 + * @param pstFileAccess [IN] 文件存取结构体 + * @return 成功，返回#MV_OK ；错误，返回错误码 + + * @~english + * @brief Write the file to camera + * @param handle [IN] Device handle + * @param pstFileAccess [IN] File access structure + * @return Success, return #MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_FileAccessWrite(IN void* handle, IN MV_CC_FILE_ACCESS * pstFileAccess); + +/********************************************************************//** + * @~chinese + * @brief 获取文件存取的进度 + * @param handle [IN] 设备句柄 + * @param pstFileAccessProgress [IN] 进度内容 + * @return 成功，返回#MV_OK ；错误，返回错误码 （当前文件存取的状态） + + * @~english + * @brief Get File Access Progress + * @param handle [IN] Device handle + * @param pstFileAccessProgress [IN] File access Progress + * @return Success, return #MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetFileAccessProgress(IN void* handle, OUT MV_CC_FILE_ACCESS_PROGRESS * pstFileAccessProgress); + +/********************************************************************//** + * @~chinese + * @brief 开始录像 + * @param handle [IN] 设备句柄 + * @param pstRecordParam [IN] 录像参数结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + + * @~english + * @brief Start Record + * @param handle [IN] Device handle + * @param pstRecordParam [IN] Record param structure + * @return Success, return #MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_StartRecord(IN void* handle, IN MV_CC_RECORD_PARAM* pstRecordParam); + +/********************************************************************//** + * @~chinese + * @brief 输入录像数据 + * @param handle [IN] 设备句柄 + * @param pstInputFrameInfo [IN] 录像数据结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + + * @~english + * @brief Input RAW data to Record + * @param handle [IN] Device handle + * @param pstInputFrameInfo [IN] Record data structure + * @return Success, return #MV_OK. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_InputOneFrame(IN void* handle, IN MV_CC_INPUT_FRAME_INFO * pstInputFrameInfo); + +/********************************************************************//** + * @~chinese + * @brief 停止录像 + * @param handle [IN] 设备句柄 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Stop Record + * @param handle [IN] Device handle + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_StopRecord(IN void* handle); + + + +/************************************************************************/ +/* 不建议使用的接口 */ +/* Interfaces not recommended */ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 获取图像基本信息 + * @param handle [IN] 相机句柄 + * @param pstInfo [IN][OUT] 返回给调用者有关相机图像基本信息结构体指针 + * @return 成功,返回 #MV_OK ,失败,返回错误码 + * @remarks 参考 CameraParams.h 中的 #MV_IMAGE_BASIC_INFO 定义 + + * @~english + * @brief Get basic information of image + * @param handle [IN] Handle + * @param pstInfo [IN][OUT] Structure pointer of image basic information + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to the definition of #MV_IMAGE_BASIC_INFO in CameraParams.h + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetImageInfo(IN void* handle, IN OUT MV_IMAGE_BASIC_INFO* pstInfo); + +/********************************************************************//** + * @~chinese + * @brief 获取GenICam代理 + * @param handle [IN] 句柄地址 + * @return GenICam代理类指针 ，正常返回值非NULL；异常返回NULL + + * @~english + * @brief Get GenICam proxy + * @param handle [IN] Handle address + * @return GenICam proxy pointer, normal, return non-NULL; exception, return NULL + ************************************************************************/ +MV_CAMCTRL_API void* __stdcall MV_CC_GetTlProxy(IN void* handle); + +/********************************************************************//** + * @~chinese + * @brief 获取根节点 + * @param handle [IN] 句柄 + * @param pstNode [OUT] 根节点信息结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Get root node + * @param handle [IN] Handle + * @param pstNode [OUT] Root node information structure + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_XML_GetRootNode(IN void* handle, IN OUT MV_XML_NODE_FEATURE* pstNode); + +/********************************************************************//** + * @~chinese + * @brief 从xml中获取指定节点的所有子节点，根节点为Root + * @param handle [IN] 句柄 + * @param pstNode [IN] 根节点信息结构体 + * @param pstNodesList [OUT] 节点列表结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Get all children node of specific node from xml, root node is Root + * @param handle [IN] Handle + * @param pstNode [IN] Root node information structure + * @param pstNodesList [OUT] Node information structure + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_XML_GetChildren(IN void* handle, IN MV_XML_NODE_FEATURE* pstNode, IN OUT MV_XML_NODES_LIST* pstNodesList); + +/********************************************************************//** + * @~chinese + * @brief 获得当前节点的属性 + * @param handle [IN] 句柄 + * @param pstNode [IN] 根节点信息结构体 + * @param pstFeature [OUT] 当前节点属性结构体， + pstFeature 具体结构体内容参考 MV_XML_FEATURE_x + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Get current node feature + * @param handle [IN] Handle + * @param pstNode [IN] Root node information structure + * @param pstFeature [OUT] Current node feature structure + Details of pstFeature refer to MV_XML_FEATURE_x + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_XML_GetNodeFeature(IN void* handle, IN MV_XML_NODE_FEATURE* pstNode, IN OUT void* pstFeature); + +/********************************************************************//** + * @~chinese + * @brief 更新节点 + * @param handle [IN] 句柄 + * @param enType [IN] 节点类型 + * @param pstFeature [OUT] 当前节点属性结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Update node + * @param handle [IN] Handle + * @param enType [IN] Node type + * @param pstFeature [OUT] Current node feature structure + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_XML_UpdateNodeFeature(IN void* handle, IN enum MV_XML_InterfaceType enType, IN void* pstFeature); + +// 有节点需要更新时的回调函数 +// 当调用MV_XML_UpdateNodeFeature接口更新节点属性时，注册的回调函数cbUpdate会在pstNodesList中返回与之相关联的节点 +/********************************************************************//** + * @~chinese + * @fn MV_XML_RegisterUpdateCallBack + * @brief 注册更新回调 + * @param handle [IN] 句柄 + * @param cbUpdate [IN] 回调函数指针 + * @param pUser [IN] 用户自定义变量 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Register update callback + * @param handle [IN] Handle + * @param cbUpdate [IN] Callback function pointer + * @param pUser [IN] User defined variable + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_XML_RegisterUpdateCallBack(IN void* handle, + IN void(__stdcall* cbUpdate)(enum MV_XML_InterfaceType enType, void* pstFeature, MV_XML_NODES_LIST* pstNodesList, void* pUser), + IN void* pUser); + + +/************************************************************************/ +/* 弃用的接口 */ +/* Abandoned interface */ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 获取一帧图像，此函数为查询式获取，每次调用查询内部缓存有 + 无数据，有数据则范围数据，无数据返回错误码 + （该接口已弃用，建议改用 MV_CC_GetOneFrameTimeOut接口） + * @param handle [IN] 句柄 + * @param pData [OUT] 图像数据接收指针 + * @param nDataSize [IN] 接收缓存大小 + * @param pFrameInfo [OUT] 图像信息结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Get one frame data, this function is using query to get data, + query whether the internal cache has data, return data if there has, return error code if no data + (This interface is abandoned, it is recommended to use the MV_CC_GetOneFrameTimeOut) + * @param handle [IN] Handle + * @param pData [OUT] Recevied image data pointer + * @param nDataSize [IN] Recevied buffer size + * @param pFrameInfo [OUT] Image information structure + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetOneFrame(IN void* handle, IN OUT unsigned char * pData , IN unsigned int nDataSize, IN OUT MV_FRAME_OUT_INFO* pFrameInfo); + +/********************************************************************//** + * @~chinese + * @brief 获取一帧trunck数据，此函数为查询式获取，每次调用查询内部 + 缓存有无数据，有数据则范围数据，无数据返回错误码 + （该接口已弃用，建议改用 MV_CC_GetOneFrameTimeOut接口） + * @param handle [IN] 句柄 + * @param pData [OUT] 图像数据接收指针 + * @param nDataSize [IN] 接收缓存大小 + * @param pFrameInfo [OUT] 图像信息结构体 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Get one frame of trunck data, this function is using query to get data, + query whether the internal cache has data, return data if there has, return error code if no data + (This interface is abandoned, it is recommended to use the MV_CC_GetOneFrameTimeOut) + * @param handle [IN] Handle + * @param pData [OUT] Recevied image data pointer + * @param nDataSize [IN] Recevied buffer size + * @param pFrameInfo [OUT] Image information structure + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetOneFrameEx(IN void* handle, IN OUT unsigned char * pData , IN unsigned int nDataSize, IN OUT MV_FRAME_OUT_INFO_EX* pFrameInfo); + +/********************************************************************//** + * @~chinese + * @brief 注册图像数据回调（该接口已弃用，建议改用 MV_CC_RegisterImageCallBackEx接口） + * @param handle [IN] 句柄 + * @param cbOutput [IN] 回调函数指针 + * @param pUser [IN] 用户自定义变量 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Register image data callback (This interface is abandoned, it is recommended to use the MV_CC_RegisterImageCallBackEx) + * @param handle [IN] Handle + * @param cbOutput [IN] Callback function pointer + * @param pUser [IN] User defined variable + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ***********************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_RegisterImageCallBack(void* handle, + void(__stdcall* cbOutput)(unsigned char * pData, MV_FRAME_OUT_INFO* pFrameInfo, void* pUser), + void* pUser); + +/********************************************************************//** + * @~chinese + * @brief 保存图片（该接口已弃用，建议改用 MV_CC_SaveImageEx2接口） + * @param pSaveParam [IN][OUT] 保存图片参数结构体 + - pData; // [IN] 输入数据缓存 + - nDataLen; // [IN] 输入数据大小 + - enPixelType; // [IN] 输入数据的像素格式 + - nWidth; // [IN] 图像宽 + - nHeight; // [IN] 图像高 + - pImageBuffer; // [OUT] 输出图片缓存 + - nImageLen; // [OUT] 输出图片大小 + - nBufferSize; // [IN] 提供的输出缓冲区大小 + - enImageType; // [IN] 输出图片格式 + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Save image (This interface is abandoned, it is recommended to use the MV_CC_SaveImageEx2) + * @param pSaveParam [IN][OUT] Save image parameters structure + - pData; // [IN] Input data buffer + - nDataLen; // [IN] Input data size + - enPixelType; // [IN] Input data pixel format + - nWidth; // [IN] Width + - nHeight; // [IN] Height + - pImageBuffer; // [OUT] Output image buffer + - nImageLen; // [OUT] Output image size + - nBufferSize; // [IN] Provided output buffer size + - enImageType; // [IN] Output image type + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SaveImage(IN OUT MV_SAVE_IMAGE_PARAM* pSaveParam); + +/********************************************************************//** + * @~chinese + * @brief 保存图片，支持Bmp和Jpeg.编码质量在50-99之前 （该接口已弃用，建议改用 MV_CC_SaveImageEx2接口） + * @param pSaveParam [IN][OUT] 保存图片参数结构体 + pData; // [IN] 输入数据缓存 + nDataLen; // [IN] 输入数据大小 + enPixelType; // [IN] 输入数据的像素格式 + nWidth; // [IN] 图像宽 + nHeight; // [IN] 图像高 + pImageBuffer; // [OUT] 输出图片缓存 + nImageLen; // [OUT] 输出图片大小 + nBufferSize; // [IN] 提供的输出缓冲区大小 + enImageType; // [IN] 输出图片格式 + nJpgQuality; // [IN] 编码质量, (50-99] + nReserved[4]; + * @return 成功，返回#MV_OK；错误，返回错误码 + * @remarks + + * @~english + * @brief Save image, support Bmp and Jpeg. Encoding quality, (50-99] + * @param pSaveParam [IN][OUT] Save image parameters structure + pData; // [IN] Input data buffer + nDataLen; // [IN] Input data size + enPixelType; // [IN] Pixel format of input data + nWidth; // [IN] Image width + nHeight; // [IN] Image height + pImageBuffer; // [OUT] Output image buffer + nImageLen; // [OUT] Output image size + nBufferSize; // [IN] Output buffer size provided + enImageType; // [IN] Output image format + nJpgQuality; // [IN] Encoding quality, (50-99] + nReserved[4]; + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SaveImageEx(IN OUT MV_SAVE_IMAGE_PARAM_EX* pSaveParam); + +/********************************************************************//** + * @~chinese + * @brief 强制IP（该接口已弃用，建议改用 MV_GIGE_ForceIpEx接口） + * @param handle [IN] 设备句柄 + * @param nIP [IN] 设置的IP + * @return 见返回错误码 + * @remarks + + * @~english + * @brief Force IP (This interface is abandoned, it is recommended to use the MV_GIGE_ForceIpEx) + * @param handle [IN] Handle + * @param nIP [IN] IP to set + * @return Refer to error code + * @remarks +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_ForceIp(IN void* handle, unsigned int nIP); + +/********************************************************************//** + * @~chinese + * @brief 注册事件回调（该接口已弃用，建议改用 MV_CC_RegisterEventCallBackEx接口） + * @param handle [IN] 设备句柄 + * @param cbEvent [IN] 事件回调函数指针 + * @param pUser [IN] 用户自定义变量 + * @return 见返回错误码 + * @remarks + + * @~english + * @brief Register event callback (this interface has been deprecated and is recommended to be converted to the MV_CC_RegisterEventCallBackEx interface) + * @param handle [IN] Handle + * @param cbEvent [IN] event callback pointer + * @param pUser [IN] User defined value + * @return Refer to error code + * @remarks +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_RegisterEventCallBack(void* handle, + void(__stdcall* cbEvent)(unsigned int nExternalEventId, void* pUser), + void* pUser); + + +/************************************************************************/ +/* 相机参数获取和设置，此模块的所有接口，将逐步废弃，建议用万能接口代替 */ +/* Get and set camara parameters, all interfaces of this module will be replaced by general interface*/ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 获取图像宽度 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机宽度的信息结构体指针 + * 返回的pstValue结构体的意义 + * - unsigned int nCurValue; // 代表相机当前的宽度值 + * - unsigned int nMax; // 表示相机允许的最大可设置的宽度值 + * - unsigned int nMin; // 表示相机允许的最小可设置的宽度值 + * - unsigned int nInc; // 表示相机设置的宽度增量必须是nInc的倍数，否则无效 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 其他整型结构体参数的接口可参照此接口 + + * @~english + * @brief Get image width + * @param handle [IN] Camera Handle + * @param pstValue [IN][OUT] Returns the information structure pointer about the camera's width for the caller + * The meaning of returns pstValue structure + * - unsigned int nCurValue; // Represents the current width value of the camera + * - unsigned int nMax; // Indicates the maximum settable width value allowed by the camera + * - unsigned int nMin; // Indicates the minimum settable width value allowed by the camera + * - unsigned int nInc; // Indicates that the width increment set by the camera must be a multiple of nInc, otherwise it is invalid + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Other Integer structure parameters interface can refer to this interface + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetWidth(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置图像宽度 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的相机宽度的值,注意此宽度值必须是MV_CC_GetWidth接口返回的pstValue中的nInc的倍数才能设置成功 + * @return 成功,返回#MV_OK,并且相机宽度将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set image width + * @param handle [IN] Camera Handle + * @param nValue [IN] To set the value of the camera width, note that the width value must be a multiple of nInc in the pstValue returned by the MV_CC_GetWidth interface + * @return Success, return #MV_OK, and the camera width will change to the corresponding value. Failure, return error code + * @remarks +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetWidth(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取图像高度 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机高度的信息结构体指针 + * @return 成功,返回#MV_OK,并将高度信息返回到结构体中，失败,返回错误码 + * @remarks 可参照接口#MV_CC_GetWidth + + * @~english + * @brief Get image height + * @param handle [IN] Camera handle + * @param pstValue [IN][OUT] Return pointer of information structure related to camera height to user + * @return Success, return #MV_OK, and return height information to the structure. Failure, return error code + * @remarks Refer to #MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetHeight(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置图像高度 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的相机宽度的值,注意此宽度值必须是MV_CC_GetWidth接口返回的pstValue中的nInc的倍数才能设置成功 + * @return 成功,返回#MV_OK,并且相机高度将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set image height + * @param handle [IN] Camera Handle + * @param nValue [IN] Camera height value to set, note that this value must be times of nInc of pstValue returned by MV_CC_GetWidth + * @return Success, return #MV_OK, and the camera height will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetHeight(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取图像X偏移 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机X偏移的信息结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口#MV_CC_GetWidth + + * @~english + * @brief Get image X offset + * @param handle [IN] Camera Handle + * @param pstValue [IN][OUT] Return pointer of information structure related to camera X offset to user + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to #MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetAOIoffsetX(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置图像AOI偏移 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的相机AOI的值 + * @return 成功,返回#MV_OK,并且相机AOI偏移将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set image X offset + * @param handle [IN] Camera Handle + * @param nValue [IN] Camera X offset value to set + * @return Success, return #MV_OK, and the camera X offset will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetAOIoffsetX(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取图像Y偏移 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机Y偏移的信息结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口#MV_CC_GetWidth + + * @~english + * @brief Get image Y offset + * @param handle [IN] Camera Handle + * @param pstValue [IN][OUT] Return pointer of information structure related to camera Y offset to user + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to #MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetAOIoffsetY(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置图像AOI偏移 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的相机AOI的值 + * @return 成功,返回#MV_OK,并且相机AOI偏移将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set image Y offset + * @param handle [IN] Camera Handle + * @param nValue [IN] Camera Y offset value to set + * @return Success, return #MV_OK, and the camera Y offset will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetAOIoffsetY(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取曝光下限 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机曝光值下限结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口#MV_CC_GetWidth + + * @~english + * @brief Get exposure lower limit + * @param handle [IN] Camera Handle + * @param pstValue [IN][OUT] Return pointer of information structure related to camera exposure lower to user + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to #MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetAutoExposureTimeLower(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置曝光值下限 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的曝光值下限 + * @return 成功,返回#MV_OK,并且相机曝光下限将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set exposure lower limit + * @param handle [IN] Camera Handle + * @param nValue [IN] Exposure lower to set + * @return Success, return #MV_OK, and the camera exposure time lower limit value will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetAutoExposureTimeLower(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取曝光上限 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机曝光值上限结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口#MV_CC_GetWidth + + * @~english + * @brief Get exposure upper limit + * @param handle [IN] Camera Handle + * @param pstValue [IN][OUT] Return pointer of information structure related to camera exposure upper to user + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to #MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetAutoExposureTimeUpper(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置曝光值上限 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的曝光值上限 + * @return 成功,返回#MV_OK,并且相机曝光上限将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set exposure upper limit + * @param handle [IN] Camera Handle + * @param nValue [IN] Exposure upper to set + * @return Success, return #MV_OK, and the camera exposure time upper limit value will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetAutoExposureTimeUpper(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取亮度值 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机亮度结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口#MV_CC_GetWidth + + * @~english + * @brief Get brightness + * @param handle [IN] Camera Handle + * @param pstValue [IN][OUT] Return pointer of information structure related to camera brightness to user + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to #MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetBrightness(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置亮度值 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的亮度值 + * @return 成功,返回#MV_OK,并且相机亮度将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set brightness + * @param handle [IN] Camera Handle + * @param nValue [IN] Brightness upper to set + * @return Success, return #MV_OK, and the camera brightness value will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetBrightness(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取帧率 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机帧率的信息结构体指针 + * 返回的pstValue结构体的意义 + * - float fCurValue; // 表示相机当前的帧率 + * - float fMax; // 表示相机允许设置的最大帧率 + * - float fMin; // 表示相机允许设置的最小帧率 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 其他浮点型结构体参数的接口可参照此接口 + + * @~english + * @brief Get Frame Rate + * @param handle [IN] Camera Handle + * @param pstValue [IN][OUT] Return pointer of information structure related to camera frame rate to user + * The meaning of returns pstValue structure + * - float fCurValue; // Indicates the current frame rate of the camera + * - float fMax; // Indicates the maximum frame rate allowed by the camera + * - float fMin; // Indicates the minimum frame rate allowed by the camera + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Other interface of Float structure parameters can refer to this interface + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetFrameRate(IN void* handle, IN OUT MVCC_FLOATVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置帧率 + * @param handle [IN] 相机句柄 + * @param fValue [IN] 想要设置的相机帧率 + * @return 成功,返回#MV_OK,并且相机帧率将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set frame rate + * @param handle [IN] Camera Handle + * @param fValue [IN] Camera frame rate to set + * @return Success, return #MV_OK, and camera frame rate will be changed to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetFrameRate(IN void* handle, IN const float fValue); + +/********************************************************************//** + * @~chinese + * @brief 获取增益 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机增益的信息结构体指针 + * 返回的pstValue结构体的意义 + * - float fCurValue; // 表示相机当前的帧率 + * - float fMax; // 表示相机允许设置的最大帧率 + * - float fMin; // 表示相机允许设置的最小帧率 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 其他浮点型结构体参数的接口可参照此接口 + + * @~english + * @brief Get Gain + * @param handle [IN] Camera Handle + * @param pstValue [IN][OUT] Return pointer of information structure related to gain to user + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * - float fCurValue; // Camera current gain + * - float fMax; // The maximum gain camera allowed + * - float fMin; // The minimum gain camera allowed + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Other interface of Float structure parameters can refer to this interface + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetGain(IN void* handle, IN OUT MVCC_FLOATVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置帧率 + * @param handle [IN] 相机句柄 + * @param fValue [IN] 想要设置的相机帧率 + * @return 成功,返回#MV_OK,并且相机帧率将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set Gain + * @param handle [IN] Camera Handle + * @param fValue [IN] Gain value to set + * @return Success, return #MV_OK, and the camera gain value will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetGain(IN void* handle, IN const float fValue); + +/********************************************************************//** + * @~chinese + * @brief 获取曝光时间 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机曝光时间的信息结构体指针 + * 返回的pstValue结构体的意义 + * - float fCurValue; // 表示相机当前的帧率 + * - float fMax; // 表示相机允许设置的最大帧率 + * - float fMin; // 表示相机允许设置的最小帧率 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 其他浮点型结构体参数的接口可参照此接口 + + * @~english + * @brief Get exposure time + * @param handle [IN] Camera Handle + * @param pstValue [IN][OUT] Return pointer of information structure related to exposure time to user + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * - float fCurValue; // Camera current exposure time + * - float fMax; // The maximum exposure time camera allowed + * - float fMin; // The minimum exposure time camera allowed + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Other interface of Float structure parameters can refer to this interface + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetExposureTime(IN void* handle, IN OUT MVCC_FLOATVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置曝光时间 + * @param handle [IN] 相机句柄 + * @param fValue [IN] 想要设置的相机帧率 + * @return 成功,返回#MV_OK,并且相机帧率将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set exposure time + * @param handle [IN] Camera Handle + * @param fValue [IN] Exposure time to set + * @return Success, return #MV_OK, and the camera exposure time value will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetExposureTime(IN void* handle, IN const float fValue); + +/********************************************************************//** + * @~chinese + * @brief 获取像素格式 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者的有关像素格式的信息结构体指针 \n + * 返回的pstValue结构体的意义 + * - unsigned int nCurValue; // 相机当前的像素格式，是枚举类型,比如说PixelType_Gvsp_Mono8, 这里获得的是其整型值,具体数值参照PixelType.h的MvGvspPixelType枚举类型 + * - unsigned int nSupportedNum; // 相机支持的像素格式的个数 + * - unsigned int nSupportValue[MV_MAX_XML_SYMBOLIC_NUM]; // 相机所有支持的像素格式对应的整型值列表，后面要设置像素格式时，参数必须是这个数组中的一种，否则无效 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 其他枚举类型参数接口可参照此接口，有关相应参数的枚举类型对应的整型值请查找PixelType.h 和 CameraParams.h中相应的定义 + + * @~english + * @brief Get Pixel Format + * @param handle [IN] Camera Handle + * @param pstValue [IN][OUT] Returns the information structure pointer about pixel format for the caller \n + * The meaning of returns pstValue structure + * - unsigned int nCurValue; // The current pixel format of the camera, is the enumeration type, such as #PixelType_Gvsp_Mono8, here is the integer value, the specific value please refer to MvGvspPixelType enumeration type in PixelType.h + * - unsigned int nSupportedNum; // Number of pixel formats supported by the camera + * - unsigned int nSupportValue[MV_MAX_XML_SYMBOLIC_NUM]; // The integer values list correspond to all supported pixel formats of the camera, followed by when set the pixel format, the parameter must be one of this list, otherwise invalid + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Other interface of Enumeration structure parameters can refer to this interface, look for the corresponding definition in PixelType.h and CameraParams.h for the integer values of the enum type parameter + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetPixelFormat(IN void* handle, IN OUT MVCC_ENUMVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置像素格式 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 要设置的像素格式对应的整型值，调用此接口时可以直接填写枚举值，如#MV_CC_SetPixelFormat(m_handle, #PixelType_Gvsp_RGB8_Packed); + * @return 成功,返回#MV_OK,并且相机像素格式将会更改为相应值，失败,返回错误码 + * @remarks 要设置的枚举类型必须是Get接口返回的nSupportValue[MV_MAX_XML_SYMBOLIC_NUM]中的一种，否则会失败 + + * @~english + * @brief Set Pixel Format + * @param handle [IN] Camera Handle + * @param nValue [IN] The corresponding integer value for pixel format to be set, when calling this interface can be directly filled in enumeration values, such as MV_CC_SetPixelFormat(m_handle, PixelType_Gvsp_RGB8_Packed); + * @return Success, return #MV_OK, and the camera pixel format will change to the corresponding value. Failure, return error code + * @remarks Other interface of Enumeration structure parameters can refer to this interface, the enumeration type to be set must be one of the nSupportValue [#MV_MAX_XML_SYMBOLIC_NUM] returned by the Get interface, otherwise it will fail + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetPixelFormat(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取采集模式 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者的有关采集模式的信息结构体指针 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 可参照接口#MV_CC_GetPixelFormat，参考 CameraParams.h 中的#MV_CAM_ACQUISITION_MODE 定义 + + * @~english + * @brief Get acquisition mode + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of acquisition mode + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Refer to #MV_CC_GetPixelFormat and definition of #MV_CAM_ACQUISITION_MODE in CameraParams.h + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetAcquisitionMode(IN void* handle, IN OUT MVCC_ENUMVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置像素格式 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 要设置的采集模式对应的整型值 + * @return 成功,返回#MV_OK,并且相机采集模式将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set acquisition mode + * @param handle [IN] Handle + * @param nValue [IN] Integer value to set corresponding to acquisition mode + * @return Success, return #MV_OK, and the camera acquisition mode will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetAcquisitionMode(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取增益模式 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者的有关增益模式的信息结构体指针 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 可参照接口#MV_CC_GetPixelFormat，参考 CameraParams.h 中的 MV_CAM_GAIN_MODE 定义 + + * @~english + * @brief Get gain mode + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of gain mode + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Refer to #MV_CC_GetPixelFormat and definition of #MV_CAM_GAIN_MODE in CameraParams.h + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetGainMode(IN void* handle, IN OUT MVCC_ENUMVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置增益模式 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 要设置的增益模式对应的整型值 + * @return 成功,返回#MV_OK,并且相机增益模式将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set gain mode + * @param handle [IN] Handle + * @param nValue [IN] Integer value to set corresponding to gain mode + * @return Success, return #MV_OK, and the camera gain mode will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetGainMode(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取自动曝光模式 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者的有关自动曝光模式的信息结构体指针 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 可参照接口#MV_CC_GetPixelFormat，参考 CameraParams.h 中的#MV_CAM_EXPOSURE_AUTO_MODE 定义 + + * @~english + * @brief Get auto exposure mode + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of auto exposure mode + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Refer to #MV_CC_GetPixelFormat and definition of #MV_CAM_EXPOSURE_AUTO_MODE in CameraParams.h + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetExposureAutoMode(IN void* handle, IN OUT MVCC_ENUMVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置自动曝光模式 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 要设置的自动曝光模式对应的整型值 + * @return 成功,返回#MV_OK,并且相机自动曝光模式将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set auto exposure mode + * @param handle [IN] Handle + * @param nValue [IN] Integer value to set corresponding to auto exposure mode + * @return Success, return #MV_OK, and the camera auto exposure mode will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetExposureAutoMode(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取触发模式 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者的有关触发模式的信息结构体指针 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 可参照接口#MV_CC_GetPixelFormat，参考 CameraParams.h 中的#MV_CAM_TRIGGER_MODE 定义 + + * @~english + * @brief Get trigger mode + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of trigger mode + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Refer to #MV_CC_GetPixelFormat and definition of #MV_CAM_TRIGGER_MODE in CameraParams.h + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetTriggerMode(IN void* handle, IN OUT MVCC_ENUMVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置触发模式 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 要设置的触发模式对应的整型值 + * @return 成功,返回#MV_OK,并且相机触发模式将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set trigger mode + * @param handle [IN] Handle + * @param nValue [IN] Integer value to set corresponding to trigger mode + * @return Success, return #MV_OK, and the camera trigger mode will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetTriggerMode(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取触发延时 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机触发延时的信息结构体指针 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 可参照接口MV_CC_GetFrameRate + + * @~english + * @brief Get tigger delay + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of trigger delay + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Refer to MV_CC_GetFrameRate + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetTriggerDelay(IN void* handle, IN OUT MVCC_FLOATVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置触发延时 + * @param handle [IN] 相机句柄 + * @param fValue [IN] 想要设置的相机触发延时 + * @return 成功,返回#MV_OK,并且相机触发延时将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set tigger delay + * @param handle [IN] Handle + * @param fValue [IN] Trigger delay to set + * @return Success, return #MV_OK, and the camera trigger delay will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetTriggerDelay(IN void* handle, IN const float fValue); + +/********************************************************************//** + * @~chinese + * @brief 获取触发源 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者的有关触发源的信息结构体指针 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 可参照接口MV_CC_GetPixelFormat，参考 CameraParams.h 中的 MV_CAM_TRIGGER_SOURCE 定义 + + * @~english + * @brief Get trigger source + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of trigger source + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Refer to MV_CC_GetPixelFormat and definition of MV_CAM_TRIGGER_SOURCE in CameraParams.h + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetTriggerSource(IN void* handle, IN OUT MVCC_ENUMVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置触发源 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 要设置的触发源对应的整型值 + * @return 成功,返回#MV_OK,并且相机触发源将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set trigger source + * @param handle [IN] Handle + * @param nValue [IN] Integer value to set corresponding to trigger source + * @return Success, return #MV_OK, and the camera trigger source will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetTriggerSource(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 软触发一次（接口仅在已选择的触发源为软件触发时有效） + * @param handle [IN] 相机句柄 + * @return 成功,返回#MV_OK, 失败,返回错误码 + * @remarks + + * @~english + * @brief Execute software trigger once (this interface only valid when the trigger source is set to software) + * @param handle [IN] Handle + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_TriggerSoftwareExecute(IN void* handle); + +/********************************************************************//** + * @~chinese + * @brief 获取Gamma类型 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者的有关Gamma类型的信息结构体指针 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 可参照接口MV_CC_GetPixelFormat，参考 CameraParams.h 中的 MV_CAM_GAMMA_SELECTOR 定义 + + * @~english + * @brief Get Gamma mode + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of gamma mode + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Refer to MV_CC_GetPixelFormat and definition of MV_CAM_GAMMA_SELECTOR in CameraParams.h + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetGammaSelector(IN void* handle, IN OUT MVCC_ENUMVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置Gamma类型 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 要设置的Gamma类型对应的整型值 + * @return 成功,返回#MV_OK,并且相机Gamma类型将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set Gamma mode + * @param handle [IN] Handle + * @param nValue [IN] Integer value to set corresponding to gamma mode + * @return Success, return #MV_OK, and the camera gamma mode will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetGammaSelector(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取Gamma值 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机Gamma值的信息结构体指针 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 可参照接口MV_CC_GetExposureTime + + * @~english + * @brief Get Gamma value + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of gamma value + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Refer to MV_CC_GetFrameRate + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetGamma(IN void* handle, IN OUT MVCC_FLOATVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置Gamma值 + * @param handle [IN] 相机句柄 + * @param fValue [IN] 想要设置的相机Gamma值 + * @return 成功,返回#MV_OK,并且相机Gamma值将会更改为相应值，失败,返回错误码 + + * @~english + * @brief Set Gamma value + * @param handle [IN] Handle + * @param fValue [IN] Gamma value to set + * @return Success, return #MV_OK, and the camera gamma value will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetGamma(IN void* handle, IN const float fValue); + +/********************************************************************//** + * @~chinese + * @brief 获取锐度 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机锐度结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get sharpness + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of sharpness + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetSharpness(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置锐度 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的锐度 + * @return 成功,返回#MV_OK,并且相机锐度将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set sharpness + * @param handle [IN] Handle + * @param nValue [IN] Sharpness to set + * @return Success, return #MV_OK, and the camera sharpness will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetSharpness(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取灰度 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机灰度结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get Hue + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of Hue + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetHue(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置灰度 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的灰度 + * @return 成功,返回#MV_OK,并且相机灰度将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set Hue + * @param handle [IN] Handle + * @param nValue [IN] Hue to set + * @return Success, return #MV_OK, and the camera Hue will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetHue(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取饱和度 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机饱和度结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get Saturation + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of Saturation + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetSaturation(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置饱和度 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的饱和度 + * @return 成功,返回#MV_OK,并且相机饱和度将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set Saturation + * @param handle [IN] Handle + * @param nValue [IN] Saturation to set + * @return Success, return #MV_OK, and the camera Saturation will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetSaturation(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取自动白平衡 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者的有关自动白平衡的信息结构体指针 + * @return 成功,返回#MV_OK,并获得相应参数信息的结构体, 失败, 返回错误码 + * @remarks 可参照接口MV_CC_GetPixelFormat，参考 CameraParams.h 中的 MV_CAM_BALANCEWHITE_AUTO 定义 + + + * @~english + * @brief Get Auto white balance + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of auto white balance + * @return Success, return #MV_OK, and get the structure of the corresponding parameters. Failure, return error code + * @remarks Refer to MV_CC_GetPixelFormat and definition of MV_CAM_BALANCEWHITE_AUTO in CameraParams.h + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetBalanceWhiteAuto(IN void* handle, IN OUT MVCC_ENUMVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置自动白平衡 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 要设置的自动白平衡对应的整型值 + * @return 成功,返回#MV_OK,并且相机自动白平衡将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set Auto white balance + * @param handle [IN] Handle + * @param nValue [IN] Integer value to set corresponding to auto white balance + * @return Success, return #MV_OK, and the camera auto white balance will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetBalanceWhiteAuto(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取白平衡 红 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机白平衡 红结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get white balance red + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of white balance red + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetBalanceRatioRed(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置白平衡 红 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的白平衡 红 + * @return 成功,返回#MV_OK,并且相机白平衡 红将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set white balance red + * @param handle [IN] Handle + * @param nValue [IN] White balance red to set + * @return Success, return #MV_OK, and the camera white balance red will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetBalanceRatioRed(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取白平衡 绿 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机白平衡 绿结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get white balance green + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of white balance green + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetBalanceRatioGreen(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置白平衡 绿 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的白平衡 绿 + * @return 成功,返回#MV_OK,并且相机白平衡 绿将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set white balance green + * @param handle [IN] Handle + * @param nValue [IN] White balance green to set + * @return Success, return #MV_OK, and the camera white balance green will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetBalanceRatioGreen(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取白平衡 蓝 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机白平衡 蓝结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get white balance blue + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of white balance blue + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetBalanceRatioBlue(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置白平衡 蓝 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的白平衡 蓝 + * @return 成功,返回#MV_OK,并且相机白平衡 蓝将会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set white balance blue + * @param handle [IN] Handle + * @param nValue [IN] White balance blue to set + * @return Success, return #MV_OK, and the camera white balance blue will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetBalanceRatioBlue(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取水印信息内包含的信息类型 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机水印信息内包含的信息类型结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get information type included by frame stamp + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of information type included by frame stamp + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetFrameSpecInfoAbility(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置水印信息内包含的信息类型 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的水印信息内包含的信息类型 + * @return 成功,返回#MV_OK,并且相机水印信息内包含的信息类型会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set information type included by frame stamp + * @param handle [IN] Handle + * @param nValue [IN] Information type included by frame stamp to set + * @return Success, return #MV_OK, and the camera information type included by frame stamp will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetFrameSpecInfoAbility(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取设备自定义名字 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机名字结构体指针 + * @return 成功,返回#MV_OK,并且获取到相机的自定义名字，失败,返回错误码 + * @remarks + + * @~english + * @brief Get device user defined name + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of device name + * @return Success, return #MV_OK, and get the camera user defined name. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetDeviceUserID(IN void* handle, IN OUT MVCC_STRINGVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置设备自定义名字 + * @param handle [IN] 相机句柄 + * @param chValue [IN] 设备名字 + * @return 成功,返回#MV_OK,并且设置设备自定义名字，失败,返回错误码 + * @remarks + + * @~english + * @brief Set device user defined name + * @param handle [IN] Handle + * @param chValue [IN] Device name + * @return Success, return #MV_OK, and set the camera user defined name. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetDeviceUserID(IN void* handle, IN const char* chValue); + +/********************************************************************//** + * @~chinese + * @brief 获取一次触发的帧数 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机一次触发的帧数结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get frame number trigger by once + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of frame number trigger by once + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetBurstFrameCount(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置一次触发的帧数 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的一次触发的帧数 + * @return 成功,返回#MV_OK,并且相机一次触发的帧数会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set frame number trigger by once + * @param handle [IN] Handle + * @param nValue [IN] Frame number trigger by once to set + * @return Success, return #MV_OK, and the camera frame number trigger by once will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetBurstFrameCount(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取行频 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机行频结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get line rate + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of line rate + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetAcquisitionLineRate(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置行频 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的行频 + * @return 成功,返回#MV_OK,并且相机行频会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set line rate + * @param handle [IN] Handle + * @param nValue [IN] Line rate to set + * @return Success, return #MV_OK, and the camera line rate will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetAcquisitionLineRate(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取心跳信息 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机心跳信息结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get heartbeat information + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of heartbeat information + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_GetHeartBeatTimeout(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置心跳信息 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的心跳信息 + * @return 成功,返回#MV_OK,并且相机心跳信息会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set heartbeat information + * @param handle [IN] Handle + * @param nValue [IN] Heartbeat information to set + * @return Success, return #MV_OK, and the camera heartbeat information will change to the corresponding value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CC_SetHeartBeatTimeout(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取网络包大小 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机网络包大小结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get network packet size + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of network packet size + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_GetGevSCPSPacketSize(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置网络包大小 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的网络包大小 + * @return 成功,返回#MV_OK,并且相机网络包大小会更改为相应值，失败,返回错误码 + + * @~english + * @brief Set network packet size + * @param handle [IN] Handle + * @param nValue [IN] Packet size to set + * @return Success, return #MV_OK, and change packet size to setting value. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetGevSCPSPacketSize(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取网络包发送间隔 + * @param handle [IN] 相机句柄 + * @param pstValue [IN][OUT] 返回给调用者有关相机网络包发送间隔结构体指针 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 可参照接口MV_CC_GetWidth + + * @~english + * @brief Get network packet sending delay + * @param handle [IN] Handle + * @param pstValue [IN][OUT] Structure pointer of network packet sending delay + * @return Success, return #MV_OK. Failure, return error code + * @remarks Refer to MV_CC_GetWidth + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_GetGevSCPD(IN void* handle, IN OUT MVCC_INTVALUE* pstValue); + +/********************************************************************//** + * @~chinese + * @brief 设置网络包发送间隔 + * @param handle [IN] 相机句柄 + * @param nValue [IN] 想要设置的网络包发送间隔 + * @return 成功,返回#MV_OK,并且相机网络包发送间隔会更改为相应值，失败,返回错误码 + + * @~english + * @brief Set network packet sending delay + * @param handle [IN] Handle + * @param nValue [IN] Packet delay to set + * @return Success, return #MV_OK, and change packet delay to setting value. Failure, return error code + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetGevSCPD(IN void* handle, IN const unsigned int nValue); + +/********************************************************************//** + * @~chinese + * @brief 获取接收端IP地址，0xa9fe0102 表示 169.254.1.2 + * @param handle [IN] 相机句柄 + * @param pnIP [IN][OUT] 返回给调用者接收端IP地址 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks + + * @~english + * @brief Get receiver IP address, 0xa9fe0102 indicates 169.254.1.2 + * @param handle [IN] Handle + * @param pnIP [IN][OUT] Receiver IP address + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_GetGevSCDA(IN void* handle, unsigned int* pnIP); + +/********************************************************************//** + * @~chinese + * @brief 设置接收端IP地址 + * @param handle [IN] 相机句柄 + * unsigned int nIP [IN] 想要设置的接收端IP地址 + * @return 成功,返回#MV_OK,并且相机接收端IP地址会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set receiver IP address + * @param handle [IN] Handel + * unsigned int nIP [IN] Receiver IP address to set + * @return Success, return #MV_OK, and change receiver IP address to setting value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetGevSCDA(IN void* handle, unsigned int nIP); + +/********************************************************************//** + * @~chinese + * @brief 获取发送端的端口号 + * @param handle [IN] 相机句柄 + * @param pnPort [IN][OUT] 返回给调用者发送端的端口号 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks + + * @~english + * @brief Get transmitter port number + * @param handle [IN] Handle + * @param pnPort [IN][OUT] Transmitter port number + * @return Success, return #MV_OK. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_GetGevSCSP(IN void* handle, unsigned int* pnPort); + +/********************************************************************//** + * @~chinese + * @brief 设置发送端的端口号 + * @param handle [IN] 相机句柄 + * @param nPort [IN] 想要设置的发送端的端口号 + * @return 成功,返回#MV_OK,并且相机发送端的端口号会更改为相应值，失败,返回错误码 + * @remarks + + * @~english + * @brief Set transmitter port number + * @param handle [IN] Handle + * @param nPort [IN] Transmitter port number to set + * @return Success, return #MV_OK, and change transmitter port number to setting value. Failure, return error code + * @remarks + ************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_GIGE_SetGevSCSP(IN void* handle, unsigned int nPort); + + +/************************************************************************/ +/* CameraLink 设备独有的接口,Linux 平台不支持 */ +/* APIs only support CameraLink device, not supported on Linux */ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 设置设备波特率 + * @param handle [IN] 设备句柄 + * @param nBaudrate [IN] 设置的波特率值，数值参考CameraParams.h中宏定义，如#define MV_CAML_BAUDRATE_9600 0x00000001 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 该接口接口支持在设备未连接时调用。 + + * @~english + * @brief Set device bauderate using one of the CL_BAUDRATE_XXXX value + * @param handle [IN] Device handle + * @param nBaudrate [IN] baud rate to set. Refer to the CameraParams.h for parameter definitions, for example, #define MV_CAML_BAUDRATE_9600 0x00000001 + * @return Success, return #MV_OK. Failure, return error code + * @remarks This API is supported only by CameraLink device.\n + This API supports calls when devices are not connected. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CAML_SetDeviceBauderate(IN void* handle, unsigned int nBaudrate); + +/********************************************************************//** + * @~chinese + * @brief 获取设备波特率 + * @param handle [IN] 设备句柄 + * @param pnCurrentBaudrate [OUT] 波特率信息指针，数值参考CameraParams.h中宏定义，如#define MV_CAML_BAUDRATE_9600 0x00000001 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 该接口接口支持在设备未连接时调用。 + + * @~english + * @brief Returns the current device bauderate, using one of the CL_BAUDRATE_XXXX value + * @param handle [IN] Device handle + * @param pnCurrentBaudrate [OUT] Return pointer of baud rate to user. Refer to the CameraParams.h for parameter definitions, for example, #define MV_CAML_BAUDRATE_9600 0x00000001 + * @return Success, return #MV_OK. Failure, return error code + * @remarks This API is supported only by CameraLink device.\n + This API supports calls when devices are not connected. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CAML_GetDeviceBauderate(IN void* handle, unsigned int* pnCurrentBaudrate); + +/********************************************************************//** + * @~chinese + * @brief 获取设备与主机间连接支持的波特率 + * @param handle [IN] 设备句柄 + * @param pnBaudrateAblity [OUT] 支持的波特率信息的指针。所支持波特率的或运算结果，单个数值参考CameraParams.h中宏定义，如#define MV_CAML_BAUDRATE_9600 0x00000001 + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks 该接口接口支持在设备未连接时调用。 + + * @~english + * @brief Returns supported bauderates of the combined device and host interface + * @param handle [IN] Device handle + * @param pnBaudrateAblity [OUT] Return pointer of the supported bauderates to user. 'OR' operation results of the supported bauderates. Refer to the CameraParams.h for single value definitions, for example, #define MV_CAML_BAUDRATE_9600 0x00000001 + * @return Success, return #MV_OK. Failure, return error code + * @remarks This API is supported only by CameraLink device.\n + This API supports calls when devices are not connected. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CAML_GetSupportBauderates(IN void* handle, unsigned int* pnBaudrateAblity); + +/********************************************************************//** + * @~chinese + * @brief 设置串口操作等待时长 + * @param handle [IN] 设备句柄 + * @param nMillisec [IN] 串口操作的等待时长, ms + * @return 成功,返回#MV_OK,失败,返回错误码 + * @remarks + + * @~english + * @brief Sets the timeout for operations on the serial port + * @param handle [IN] Device handle + * @param nMillisec [IN] Timeout in [ms] for operations on the serial port. + * @return Success, return #MV_OK. Failure, return error code + * @return Success, return MV_OK. Failure, return error code +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_CAML_SetGenCPTimeOut(IN void* handle, unsigned int nMillisec); + +/************************************************************************/ +/* U3V 设备独有的接口 */ +/************************************************************************/ +/********************************************************************//** + * @~chinese + * @brief 设置U3V的传输包大小 + * @param handle [IN] 设备句柄 + * @param nTransferSize [IN] 传输的包大小, Byte，默认为1M，rang：>=0x10000 + * @return 成功,返回MV_OK,失败,返回错误码 + * @remarks 增加传输包大小可以适当降低取流时的CPU占用率。但不同的PC和不同USB扩展卡存在不同的兼容性，如果该参数设置过大可能会出现取不到图像的风险。 + + * @~english + * @brief Set transfer size of U3V device + * @param handle [IN] Device handle + * @param nTransferSize [IN] Transfer size，Byte，default：1M，rang：>=0x10000 + * @return Success, return MV_OK. Failure, return error code + * @remarks Increasing the transmission packet size can reduce the CPU utilization at the time of fetching. However, different PCS and different USB extension CARDS have different compatibility, and if this parameter is set too large, there may be the risk of not getting the image. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_USB_SetTransferSize(IN void* handle, unsigned int nTransferSize); + +/********************************************************************//** + * @~chinese + * @brief 获取U3V的传输包大小 + * @param handle [IN] 设备句柄 + * @param pnTransferSize [OUT] 传输的包大小指针, Byte + * @return 成功,返回MV_OK,失败,返回错误码 + * @remarks 该接口用于获取当前的U3V传输包大小，默认1M。 + + * @~english + * @brief Get transfer size of U3V device + * @param handle [IN] Device handle + * @param pnTransferSize [OUT] Transfer size，Byte + * @return Success, return MV_OK. Failure, return error code + * @remarks This interface is used to get the current U3V transfer packet size, default 1M. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_USB_GetTransferSize(IN void* handle, unsigned int* pnTransferSize); + +/********************************************************************//** + * @~chinese + * @brief 设置U3V的传输通道个数 + * @param handle [IN] 设备句柄 + * @param nTransferWays [IN] 传输通道个数，范围：1-10 + * @return 成功,返回MV_OK,失败,返回错误码 + * @remarks 用户可以根据PC的性能、设备出图帧率、图像大小和内存使用率等因素对该参数进行调节。但不同的PC和不同的USB扩展卡存在不同的兼容性。 + + * @~english + * @brief Set transfer ways of U3V device + * @param handle [IN] Device handle + * @param nTransferWays [IN] Transfer ways，rang：1-10 + * @return Success, return MV_OK. Failure, return error code + * @remarks Users can adjust this parameter according to PC performance, camera image frame rate, image size, memory utilization and other factors. But different PCS and different USB expansion CARDS have different compatibility. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_USB_SetTransferWays(IN void* handle, unsigned int nTransferWays); + +/********************************************************************//** + * @~chinese + * @brief 获取U3V的传输通道个数 + * @param handle [IN] 设备句柄 + * @param pnTransferWays [OUT] 传输通道个数指针 + * @return 成功,返回MV_OK,失败,返回错误码 + * @remarks 该接口用于获取当前的U3V异步取流节点个数，2000W设备的MONO8默认为3个，YUV为默认2个，RGB为默认1个，其它情况默认8个节点。 + + * @~english + * @brief Get transfer ways of U3V device + * @param handle [IN] Device handle + * @param pnTransferWays [OUT] Transfer ways + * @return Success, return MV_OK. Failure, return error code + * @remarks This interface is used to get the current number of U3V asynchronous feed nodes. For 2000W camera, MONO8 defaults to 3, YUV defaults to 2, RGB defaults to 1, and other cases default to 8 nodes. +************************************************************************/ +MV_CAMCTRL_API int __stdcall MV_USB_GetTransferWays(IN void* handle, unsigned int* pnTransferWays); + +#ifdef __cplusplus +} +#endif + +#endif //_MV_CAMERA_CTRL_H_ diff --git a/src/rm_vision/ros2-hik-camera/hikSDK/include/MvErrorDefine.h b/src/rm_vision/ros2-hik-camera/hikSDK/include/MvErrorDefine.h new file mode 100644 index 0000000..a71cd79 --- /dev/null +++ b/src/rm_vision/ros2-hik-camera/hikSDK/include/MvErrorDefine.h @@ -0,0 +1,104 @@ + +#ifndef _MV_ERROR_DEFINE_H_ +#define _MV_ERROR_DEFINE_H_ + +/********************************************************************/ +/// \~chinese +/// \name 正确码定义 +/// @{ +/// \~english +/// \name Definition of correct code +/// @{ +#define MV_OK 0x00000000 ///< \~chinese 成功，无错误 \~english Successed, no error +/// @} + +/********************************************************************/ +/// \~chinese +/// \name 通用错误码定义:范围0x80000000-0x800000FF +/// @{ +/// \~english +/// \name Definition of General error code +/// @{ +#define MV_E_HANDLE 0x80000000 ///< \~chinese 错误或无效的句柄 \~english Error or invalid handle +#define MV_E_SUPPORT 0x80000001 ///< \~chinese 不支持的功能 \~english Not supported function +#define MV_E_BUFOVER 0x80000002 ///< \~chinese 缓存已满 \~english Buffer overflow +#define MV_E_CALLORDER 0x80000003 ///< \~chinese 函数调用顺序错误 \~english Function calling order error +#define MV_E_PARAMETER 0x80000004 ///< \~chinese 错误的参数 \~english Incorrect parameter +#define MV_E_RESOURCE 0x80000006 ///< \~chinese 资源申请失败 \~english Applying resource failed +#define MV_E_NODATA 0x80000007 ///< \~chinese 无数据 \~english No data +#define MV_E_PRECONDITION 0x80000008 ///< \~chinese 前置条件有误，或运行环境已发生变化 \~english Precondition error, or running environment changed +#define MV_E_VERSION 0x80000009 ///< \~chinese 版本不匹配 \~english Version mismatches +#define MV_E_NOENOUGH_BUF 0x8000000A ///< \~chinese 传入的内存空间不足 \~english Insufficient memory +#define MV_E_ABNORMAL_IMAGE 0x8000000B ///< \~chinese 异常图像，可能是丢包导致图像不完整 \~english Abnormal image, maybe incomplete image because of lost packet +#define MV_E_LOAD_LIBRARY 0x8000000C ///< \~chinese 动态导入DLL失败 \~english Load library failed +#define MV_E_NOOUTBUF 0x8000000D ///< \~chinese 没有可输出的缓存 \~english No Avaliable Buffer +#define MV_E_UNKNOW 0x800000FF ///< \~chinese 未知的错误 \~english Unknown error +/// @} + +/********************************************************************/ +/// \~chinese +/// \name GenICam系列错误:范围0x80000100-0x800001FF +/// @{ +/// \~english +/// \name GenICam Series Error Codes: Range from 0x80000100 to 0x800001FF +/// @{ +#define MV_E_GC_GENERIC 0x80000100 ///< \~chinese 通用错误 \~english General error +#define MV_E_GC_ARGUMENT 0x80000101 ///< \~chinese 参数非法 \~english Illegal parameters +#define MV_E_GC_RANGE 0x80000102 ///< \~chinese 值超出范围 \~english The value is out of range +#define MV_E_GC_PROPERTY 0x80000103 ///< \~chinese 属性 \~english Property +#define MV_E_GC_RUNTIME 0x80000104 ///< \~chinese 运行环境有问题 \~english Running environment error +#define MV_E_GC_LOGICAL 0x80000105 ///< \~chinese 逻辑错误 \~english Logical error +#define MV_E_GC_ACCESS 0x80000106 ///< \~chinese 节点访问条件有误 \~english Node accessing condition error +#define MV_E_GC_TIMEOUT 0x80000107 ///< \~chinese 超时 \~english Timeout +#define MV_E_GC_DYNAMICCAST 0x80000108 ///< \~chinese 转换异常 \~english Transformation exception +#define MV_E_GC_UNKNOW 0x800001FF ///< \~chinese GenICam未知错误 \~english GenICam unknown error +/// @} + +/********************************************************************/ +/// \~chinese +/// \name GigE_STATUS对应的错误码:范围0x80000200-0x800002FF +/// @{ +/// \~english +/// \name GigE_STATUS Error Codes: Range from 0x80000200 to 0x800002FF +/// @{ +#define MV_E_NOT_IMPLEMENTED 0x80000200 ///< \~chinese 命令不被设备支持 \~english The command is not supported by device +#define MV_E_INVALID_ADDRESS 0x80000201 ///< \~chinese 访问的目标地址不存在 \~english The target address being accessed does not exist +#define MV_E_WRITE_PROTECT 0x80000202 ///< \~chinese 目标地址不可写 \~english The target address is not writable +#define MV_E_ACCESS_DENIED 0x80000203 ///< \~chinese 设备无访问权限 \~english No permission +#define MV_E_BUSY 0x80000204 ///< \~chinese 设备忙，或网络断开 \~english Device is busy, or network disconnected +#define MV_E_PACKET 0x80000205 ///< \~chinese 网络包数据错误 \~english Network data packet error +#define MV_E_NETER 0x80000206 ///< \~chinese 网络相关错误 \~english Network error +#define MV_E_IP_CONFLICT 0x80000221 ///< \~chinese 设备IP冲突 \~english Device IP conflict +/// @} + +/********************************************************************/ +/// \~chinese +/// \name USB_STATUS对应的错误码:范围0x80000300-0x800003FF +/// @{ +/// \~english +/// \name USB_STATUS Error Codes: Range from 0x80000300 to 0x800003FF +/// @{ +#define MV_E_USB_READ 0x80000300 ///< \~chinese 读usb出错 \~english Reading USB error +#define MV_E_USB_WRITE 0x80000301 ///< \~chinese 写usb出错 \~english Writing USB error +#define MV_E_USB_DEVICE 0x80000302 ///< \~chinese 设备异常 \~english Device exception +#define MV_E_USB_GENICAM 0x80000303 ///< \~chinese GenICam相关错误 \~english GenICam error +#define MV_E_USB_BANDWIDTH 0x80000304 ///< \~chinese 带宽不足 该错误码新增 \~english Insufficient bandwidth, this error code is newly added +#define MV_E_USB_DRIVER 0x80000305 ///< \~chinese 驱动不匹配或者未装驱动 \~english Driver mismatch or unmounted drive +#define MV_E_USB_UNKNOW 0x800003FF ///< \~chinese USB未知的错误 \~english USB unknown error +/// @} + +/********************************************************************/ +/// \~chinese +/// \name 升级时对应的错误码:范围0x80000400-0x800004FF +/// @{ +/// \~english +/// \name Upgrade Error Codes: Range from 0x80000400 to 0x800004FF +/// @{ +#define MV_E_UPG_FILE_MISMATCH 0x80000400 ///< \~chinese 升级固件不匹配 \~english Firmware mismatches +#define MV_E_UPG_LANGUSGE_MISMATCH 0x80000401 ///< \~chinese 升级固件语言不匹配 \~english Firmware language mismatches +#define MV_E_UPG_CONFLICT 0x80000402 ///< \~chinese 升级冲突（设备已经在升级了再次请求升级即返回此错误） \~english Upgrading conflicted (repeated upgrading requests during device upgrade) +#define MV_E_UPG_INNER_ERR 0x80000403 ///< \~chinese 升级时相机内部出现错误 \~english Camera internal error during upgrade +#define MV_E_UPG_UNKNOW 0x800004FF ///< \~chinese 升级时未知错误 \~english Unknown error during upgrade +/// @} + +#endif //_MV_ERROR_DEFINE_H_ diff --git a/src/rm_vision/ros2-hik-camera/hikSDK/include/MvISPErrorDefine.h b/src/rm_vision/ros2-hik-camera/hikSDK/include/MvISPErrorDefine.h new file mode 100644 index 0000000..8f4d096 --- /dev/null +++ b/src/rm_vision/ros2-hik-camera/hikSDK/include/MvISPErrorDefine.h @@ -0,0 +1,93 @@ + +#ifndef _MV_ISP_ERROR_DEFINE_H_ +#define _MV_ISP_ERROR_DEFINE_H_ + +/************************************************************************ +* ISP㷨Ĵ +************************************************************************/ +// ͨ +#define MV_ALG_OK 0x00000000 //ȷ +#define MV_ALG_ERR 0x10000000 //ȷʹ + +// +#define MV_ALG_E_ABILITY_ARG 0x10000001 //дЧ + +// ڴ +#define MV_ALG_E_MEM_NULL 0x10000002 //ڴַΪ +#define MV_ALG_E_MEM_ALIGN 0x10000003 //ڴ벻Ҫ +#define MV_ALG_E_MEM_LACK 0x10000004 //ڴռС +#define MV_ALG_E_MEM_SIZE_ALIGN 0x10000005 //ڴռСҪ +#define MV_ALG_E_MEM_ADDR_ALIGN 0x10000006 //ڴַҪ + +// ͼ +#define MV_ALG_E_IMG_FORMAT 0x10000007 //ͼʽȷ߲֧ +#define MV_ALG_E_IMG_SIZE 0x10000008 //ͼ߲ȷ߳Χ +#define MV_ALG_E_IMG_STEP 0x10000009 //ͼstepƥ +#define MV_ALG_E_IMG_DATA_NULL 0x1000000A //ͼݴ洢ַΪ + +// +#define MV_ALG_E_CFG_TYPE 0x1000000B //û߻ȡͲȷ +#define MV_ALG_E_CFG_SIZE 0x1000000C //û߻ȡ롢ṹСȷ +#define MV_ALG_E_PRC_TYPE 0x1000000D //Ͳȷ +#define MV_ALG_E_PRC_SIZE 0x1000000E //ʱ롢Сȷ +#define MV_ALG_E_FUNC_TYPE 0x1000000F //ӴͲȷ +#define MV_ALG_E_FUNC_SIZE 0x10000010 //Ӵʱ롢Сȷ + +// в +#define MV_ALG_E_PARAM_INDEX 0x10000011 //indexȷ +#define MV_ALG_E_PARAM_VALUE 0x10000012 //valueȷ߳Χ +#define MV_ALG_E_PARAM_NUM 0x10000013 //param_numȷ + +// ӿڵü +#define MV_ALG_E_NULL_PTR 0x10000014 //ָΪ +#define MV_ALG_E_OVER_MAX_MEM 0x10000015 //޶ڴ +#define MV_ALG_E_CALL_BACK 0x10000016 //ص + +// 㷨ؼ +#define MV_ALG_E_ENCRYPT 0x10000017 //ܴ +#define MV_ALG_E_EXPIRE 0x10000018 //㷨ʹ޴ + +// ڲģ鷵صĻ +#define MV_ALG_E_BAD_ARG 0x10000019 //Χȷ +#define MV_ALG_E_DATA_SIZE 0x1000001A //ݴСȷ +#define MV_ALG_E_STEP 0x1000001B //stepȷ + +// cpuָִ֧ +#define MV_ALG_E_CPUID 0x1000001C //cpu֧Żеָ + +#define MV_ALG_WARNING 0x1000001D // + +#define MV_ALG_E_TIME_OUT 0x1000001E //㷨ⳬʱ +#define MV_ALG_E_LIB_VERSION 0x1000001F //㷨汾ų +#define MV_ALG_E_MODEL_VERSION 0x10000020 //ģͰ汾ų +#define MV_ALG_E_GPU_MEM_ALLOC 0x10000021 //GPUڴ +#define MV_ALG_E_FILE_NON_EXIST 0x10000022 //ļ +#define MV_ALG_E_NONE_STRING 0x10000023 //ַΪ +#define MV_ALG_E_IMAGE_CODEC 0x10000024 //ͼ +#define MV_ALG_E_FILE_OPEN 0x10000025 //ļ +#define MV_ALG_E_FILE_READ 0x10000026 //ļȡ +#define MV_ALG_E_FILE_WRITE 0x10000027 //ļд +#define MV_ALG_E_FILE_READ_SIZE 0x10000028 //ļȡС +#define MV_ALG_E_FILE_TYPE 0x10000029 //ļʹ +#define MV_ALG_E_MODEL_TYPE 0x1000002A //ģʹ +#define MV_ALG_E_MALLOC_MEM 0x1000002B //ڴ +#define MV_ALG_E_BIND_CORE_FAILED 0x1000002C //̰߳ʧ + +// д +#define MV_ALG_E_DENOISE_NE_IMG_FORMAT 0x10402001 //ͼʽ +#define MV_ALG_E_DENOISE_NE_FEATURE_TYPE 0x10402002 //ʹ +#define MV_ALG_E_DENOISE_NE_PROFILE_NUM 0x10402003 //Ը +#define MV_ALG_E_DENOISE_NE_GAIN_NUM 0x10402004 // +#define MV_ALG_E_DENOISE_NE_GAIN_VAL 0x10402005 //ֵ +#define MV_ALG_E_DENOISE_NE_BIN_NUM 0x10402006 // +#define MV_ALG_E_DENOISE_NE_INIT_GAIN 0x10402007 //Ƴʼô +#define MV_ALG_E_DENOISE_NE_NOT_INIT 0x10402008 //δʼ +#define MV_ALG_E_DENOISE_COLOR_MODE 0x10402009 //ɫռģʽ +#define MV_ALG_E_DENOISE_ROI_NUM 0x1040200a //ͼROI +#define MV_ALG_E_DENOISE_ROI_ORI_PT 0x1040200b //ͼROIԭ +#define MV_ALG_E_DENOISE_ROI_SIZE 0x1040200c //ͼROIС +#define MV_ALG_E_DENOISE_GAIN_NOT_EXIST 0x1040200d //治(Ѵ) +#define MV_ALG_E_DENOISE_GAIN_BEYOND_RANGE 0x1040200e //治ڷΧ +#define MV_ALG_E_DENOISE_NP_BUF_SIZE 0x1040200f //ڴС + +#endif //_MV_ISP_ERROR_DEFINE_H_ diff --git a/src/rm_vision/ros2-hik-camera/hikSDK/include/PixelType.h b/src/rm_vision/ros2-hik-camera/hikSDK/include/PixelType.h new file mode 100644 index 0000000..d83f9de --- /dev/null +++ b/src/rm_vision/ros2-hik-camera/hikSDK/include/PixelType.h @@ -0,0 +1,202 @@ + +#ifndef _MV_PIXEL_TYPE_H_ +#define _MV_PIXEL_TYPE_H_ + +//#include "Base/GCTypes.h" + + +/************************************************************************/ +/* GigE Vision (2.0.03) PIXEL FORMATS */ +/************************************************************************/ + +// Indicate if pixel is monochrome or RGB +#define MV_GVSP_PIX_MONO 0x01000000 +#define MV_GVSP_PIX_RGB 0x02000000 // deprecated in version 1.1 +#define MV_GVSP_PIX_COLOR 0x02000000 +#define MV_GVSP_PIX_CUSTOM 0x80000000 +#define MV_GVSP_PIX_COLOR_MASK 0xFF000000 + +// Indicate effective number of bits occupied by the pixel (including padding). +// This can be used to compute amount of memory required to store an image. +#define MV_PIXEL_BIT_COUNT(n) ((n) << 16) + +#define MV_GVSP_PIX_EFFECTIVE_PIXEL_SIZE_MASK 0x00FF0000 +#define MV_GVSP_PIX_EFFECTIVE_PIXEL_SIZE_SHIFT 16 + +// Pixel ID: lower 16-bit of the pixel formats +#define MV_GVSP_PIX_ID_MASK 0x0000FFFF +#define MV_GVSP_PIX_COUNT 0x46 // next Pixel ID available + + +enum MvGvspPixelType +{ + // Undefined pixel type +#ifdef WIN32 + PixelType_Gvsp_Undefined = 0xFFFFFFFF, +#else + PixelType_Gvsp_Undefined = -1, +#endif + // Mono buffer format defines + PixelType_Gvsp_Mono1p = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(1) | 0x0037), + PixelType_Gvsp_Mono2p = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(2) | 0x0038), + PixelType_Gvsp_Mono4p = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(4) | 0x0039), + PixelType_Gvsp_Mono8 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x0001), + PixelType_Gvsp_Mono8_Signed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x0002), + PixelType_Gvsp_Mono10 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0003), + PixelType_Gvsp_Mono10_Packed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0004), + PixelType_Gvsp_Mono12 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0005), + PixelType_Gvsp_Mono12_Packed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0006), + PixelType_Gvsp_Mono14 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0025), + PixelType_Gvsp_Mono16 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0007), + + // Bayer buffer format defines + PixelType_Gvsp_BayerGR8 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x0008), + PixelType_Gvsp_BayerRG8 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x0009), + PixelType_Gvsp_BayerGB8 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x000A), + PixelType_Gvsp_BayerBG8 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x000B), + PixelType_Gvsp_BayerGR10 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x000C), + PixelType_Gvsp_BayerRG10 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x000D), + PixelType_Gvsp_BayerGB10 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x000E), + PixelType_Gvsp_BayerBG10 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x000F), + PixelType_Gvsp_BayerGR12 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0010), + PixelType_Gvsp_BayerRG12 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0011), + PixelType_Gvsp_BayerGB12 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0012), + PixelType_Gvsp_BayerBG12 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0013), + PixelType_Gvsp_BayerGR10_Packed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0026), + PixelType_Gvsp_BayerRG10_Packed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0027), + PixelType_Gvsp_BayerGB10_Packed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0028), + PixelType_Gvsp_BayerBG10_Packed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0029), + PixelType_Gvsp_BayerGR12_Packed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x002A), + PixelType_Gvsp_BayerRG12_Packed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x002B), + PixelType_Gvsp_BayerGB12_Packed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x002C), + PixelType_Gvsp_BayerBG12_Packed = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x002D), + PixelType_Gvsp_BayerGR16 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x002E), + PixelType_Gvsp_BayerRG16 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x002F), + PixelType_Gvsp_BayerGB16 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0030), + PixelType_Gvsp_BayerBG16 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0031), + + // RGB Packed buffer format defines + PixelType_Gvsp_RGB8_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(24) | 0x0014), + PixelType_Gvsp_BGR8_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(24) | 0x0015), + PixelType_Gvsp_RGBA8_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(32) | 0x0016), + PixelType_Gvsp_BGRA8_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(32) | 0x0017), + PixelType_Gvsp_RGB10_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x0018), + PixelType_Gvsp_BGR10_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x0019), + PixelType_Gvsp_RGB12_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x001A), + PixelType_Gvsp_BGR12_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x001B), + PixelType_Gvsp_RGB16_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x0033), + PixelType_Gvsp_BGR16_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x004B), + PixelType_Gvsp_RGBA16_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(64) | 0x0064), + PixelType_Gvsp_BGRA16_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(64) | 0x0051), + PixelType_Gvsp_RGB10V1_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(32) | 0x001C), + PixelType_Gvsp_RGB10V2_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(32) | 0x001D), + PixelType_Gvsp_RGB12V1_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(36) | 0X0034), + PixelType_Gvsp_RGB565_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x0035), + PixelType_Gvsp_BGR565_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0X0036), + + // YUV Packed buffer format defines + PixelType_Gvsp_YUV411_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(12) | 0x001E), + PixelType_Gvsp_YUV422_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x001F), + PixelType_Gvsp_YUV422_YUYV_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x0032), + PixelType_Gvsp_YUV444_Packed = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(24) | 0x0020), + PixelType_Gvsp_YCBCR8_CBYCR = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(24) | 0x003A), + PixelType_Gvsp_YCBCR422_8 = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x003B), + PixelType_Gvsp_YCBCR422_8_CBYCRY = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x0043), + PixelType_Gvsp_YCBCR411_8_CBYYCRYY = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(12) | 0x003C), + PixelType_Gvsp_YCBCR601_8_CBYCR = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(24) | 0x003D), + PixelType_Gvsp_YCBCR601_422_8 = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x003E), + PixelType_Gvsp_YCBCR601_422_8_CBYCRY = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x0044), + PixelType_Gvsp_YCBCR601_411_8_CBYYCRYY = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(12) | 0x003F), + PixelType_Gvsp_YCBCR709_8_CBYCR = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(24) | 0x0040), + PixelType_Gvsp_YCBCR709_422_8 = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x0041), + PixelType_Gvsp_YCBCR709_422_8_CBYCRY = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x0045), + PixelType_Gvsp_YCBCR709_411_8_CBYYCRYY = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(12) | 0x0042), + + // RGB Planar buffer format defines + PixelType_Gvsp_RGB8_Planar = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(24) | 0x0021), + PixelType_Gvsp_RGB10_Planar = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x0022), + PixelType_Gvsp_RGB12_Planar = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x0023), + PixelType_Gvsp_RGB16_Planar = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x0024), + + // 自定义的图片格式 + PixelType_Gvsp_Jpeg = (MV_GVSP_PIX_CUSTOM | MV_PIXEL_BIT_COUNT(24) | 0x0001), + + PixelType_Gvsp_Coord3D_ABC32f = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(96) | 0x00C0),//0x026000C0 + PixelType_Gvsp_Coord3D_ABC32f_Planar = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(96) | 0x00C1),//0x026000C1 + + // 该值被废弃，请参考PixelType_Gvsp_Coord3D_AC32f_64; the value is discarded + PixelType_Gvsp_Coord3D_AC32f = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(40) | 0x00C2), + // 该值被废弃; the value is discarded (已放入Chunkdata) + PixelType_Gvsp_COORD3D_DEPTH_PLUS_MASK = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(28) | 0x0001), + + PixelType_Gvsp_Coord3D_ABC32 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(96) | 0x3001),//0x82603001 + PixelType_Gvsp_Coord3D_AB32f = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(64) | 0x3002),//0x82403002 + PixelType_Gvsp_Coord3D_AB32 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(64) | 0x3003),//0x82403003 + PixelType_Gvsp_Coord3D_AC32f_64 = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(64) | 0x00C2),//0x024000C2 + PixelType_Gvsp_Coord3D_AC32f_Planar = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(64) | 0x00C3),//0x024000C3 + PixelType_Gvsp_Coord3D_AC32 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(64) | 0x3004),//0x82403004 + PixelType_Gvsp_Coord3D_A32f = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(32) | 0x00BD),//0x012000BD + PixelType_Gvsp_Coord3D_A32 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(32) | 0x3005),//0x81203005 + PixelType_Gvsp_Coord3D_C32f = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(32) | 0x00BF),//0x012000BF + PixelType_Gvsp_Coord3D_C32 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(32) | 0x3006),//0x81203006 + + PixelType_Gvsp_Coord3D_ABC16 = (MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x00B9),//0x023000B9 + PixelType_Gvsp_Coord3D_C16 = (MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x00B8),//0x011000B8 + + //无损压缩像素格式定义 + PixelType_Gvsp_HB_Mono8 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x0001), + PixelType_Gvsp_HB_Mono10 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0003), + PixelType_Gvsp_HB_Mono10_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0004), + PixelType_Gvsp_HB_Mono12 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0005), + PixelType_Gvsp_HB_Mono12_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0006), + PixelType_Gvsp_HB_Mono16 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0007), + PixelType_Gvsp_HB_BayerGR8 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x0008), + PixelType_Gvsp_HB_BayerRG8 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x0009), + PixelType_Gvsp_HB_BayerGB8 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x000A), + PixelType_Gvsp_HB_BayerBG8 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x000B), + PixelType_Gvsp_HB_BayerRBGG8 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(8) | 0x0046), + PixelType_Gvsp_HB_BayerGR10 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x000C), + PixelType_Gvsp_HB_BayerRG10 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x000D), + PixelType_Gvsp_HB_BayerGB10 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x000E), + PixelType_Gvsp_HB_BayerBG10 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x000F), + PixelType_Gvsp_HB_BayerGR12 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0010), + PixelType_Gvsp_HB_BayerRG12 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0011), + PixelType_Gvsp_HB_BayerGB12 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0012), + PixelType_Gvsp_HB_BayerBG12 = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(16) | 0x0013), + PixelType_Gvsp_HB_BayerGR10_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0026), + PixelType_Gvsp_HB_BayerRG10_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0027), + PixelType_Gvsp_HB_BayerGB10_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0028), + PixelType_Gvsp_HB_BayerBG10_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x0029), + PixelType_Gvsp_HB_BayerGR12_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x002A), + PixelType_Gvsp_HB_BayerRG12_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x002B), + PixelType_Gvsp_HB_BayerGB12_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x002C), + PixelType_Gvsp_HB_BayerBG12_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_MONO | MV_PIXEL_BIT_COUNT(12) | 0x002D), + PixelType_Gvsp_HB_YUV422_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x001F), + PixelType_Gvsp_HB_YUV422_YUYV_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(16) | 0x0032), + PixelType_Gvsp_HB_RGB8_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(24) | 0x0014), + PixelType_Gvsp_HB_BGR8_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(24) | 0x0015), + PixelType_Gvsp_HB_RGBA8_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(32) | 0x0016), + PixelType_Gvsp_HB_BGRA8_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(32) | 0x0017), + PixelType_Gvsp_HB_RGB16_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x0033), + PixelType_Gvsp_HB_BGR16_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(48) | 0x004B), + PixelType_Gvsp_HB_RGBA16_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(64) | 0x0064), + PixelType_Gvsp_HB_BGRA16_Packed = (MV_GVSP_PIX_CUSTOM | MV_GVSP_PIX_COLOR | MV_PIXEL_BIT_COUNT(64) | 0x0051), + +}; + +//enum MvUsbPixelType +//{ +// +//}; + +//跨平台定义 +//Cross Platform Definition +#ifdef WIN32 +typedef __int64 int64_t; +typedef unsigned __int64 uint64_t; +#else +#include +#endif + + +#endif /* _MV_PIXEL_TYPE_H_ */ diff --git a/src/rm_vision/ros2-hik-camera/hikSDK/lib/amd64/libFormatConversion.so b/src/rm_vision/ros2-hik-camera/hikSDK/lib/amd64/libFormatConversion.so new file mode 100644 index 0000000..10d4e0b Binary files /dev/null and b/src/rm_vision/ros2-hik-camera/hikSDK/lib/amd64/libFormatConversion.so differ diff --git a/src/rm_vision/ros2-hik-camera/hikSDK/lib/amd64/libMVRender.so b/src/rm_vision/ros2-hik-camera/hikSDK/lib/amd64/libMVRender.so new file mode 100644 index 0000000..b09a02b Binary files /dev/null and b/src/rm_vision/ros2-hik-camera/hikSDK/lib/amd64/libMVRender.so differ diff --git a/src/rm_vision/ros2-hik-camera/hikSDK/lib/amd64/libMediaProcess.so b/src/rm_vision/ros2-hik-camera/hikSDK/lib/amd64/libMediaProcess.so new file mode 100644 index 0000000..6fd3f71 Binary files /dev/null and b/src/rm_vision/ros2-hik-camera/hikSDK/lib/amd64/libMediaProcess.so differ diff --git a/src/rm_vision/ros2-hik-camera/hikSDK/lib/amd64/libMvCameraControl.so b/src/rm_vision/ros2-hik-camera/hikSDK/lib/amd64/libMvCameraControl.so new file mode 100644 index 0000000..88c139b Binary files /dev/null and b/src/rm_vision/ros2-hik-camera/hikSDK/lib/amd64/libMvCameraControl.so differ diff --git a/src/rm_vision/ros2-hik-camera/hikSDK/lib/amd64/libMvUsb3vTL.so b/src/rm_vision/ros2-hik-camera/hikSDK/lib/amd64/libMvUsb3vTL.so new file mode 100644 index 0000000..810e863 Binary files /dev/null and b/src/rm_vision/ros2-hik-camera/hikSDK/lib/amd64/libMvUsb3vTL.so differ diff --git a/src/rm_vision/ros2-hik-camera/hikSDK/lib/arm64/libFormatConversion.so b/src/rm_vision/ros2-hik-camera/hikSDK/lib/arm64/libFormatConversion.so new file mode 100644 index 0000000..793ac90 Binary files /dev/null and b/src/rm_vision/ros2-hik-camera/hikSDK/lib/arm64/libFormatConversion.so differ diff --git a/src/rm_vision/ros2-hik-camera/hikSDK/lib/arm64/libMVRender.so b/src/rm_vision/ros2-hik-camera/hikSDK/lib/arm64/libMVRender.so new file mode 100644 index 0000000..4ed543c Binary files /dev/null and b/src/rm_vision/ros2-hik-camera/hikSDK/lib/arm64/libMVRender.so differ diff --git a/src/rm_vision/ros2-hik-camera/hikSDK/lib/arm64/libMediaProcess.so b/src/rm_vision/ros2-hik-camera/hikSDK/lib/arm64/libMediaProcess.so new file mode 100644 index 0000000..3f2d9e4 Binary files /dev/null and b/src/rm_vision/ros2-hik-camera/hikSDK/lib/arm64/libMediaProcess.so differ diff --git a/src/rm_vision/ros2-hik-camera/hikSDK/lib/arm64/libMvCameraControl.so b/src/rm_vision/ros2-hik-camera/hikSDK/lib/arm64/libMvCameraControl.so new file mode 100644 index 0000000..0c20a4f Binary files /dev/null and b/src/rm_vision/ros2-hik-camera/hikSDK/lib/arm64/libMvCameraControl.so differ diff --git a/src/rm_vision/ros2-hik-camera/hikSDK/lib/arm64/libMvUsb3vTL.so b/src/rm_vision/ros2-hik-camera/hikSDK/lib/arm64/libMvUsb3vTL.so new file mode 100644 index 0000000..2749f55 Binary files /dev/null and b/src/rm_vision/ros2-hik-camera/hikSDK/lib/arm64/libMvUsb3vTL.so differ diff --git a/src/rm_vision/ros2-hik-camera/launch/hik_camera.launch.py b/src/rm_vision/ros2-hik-camera/launch/hik_camera.launch.py new file mode 100644 index 0000000..1d25f29 --- /dev/null +++ b/src/rm_vision/ros2-hik-camera/launch/hik_camera.launch.py @@ -0,0 +1,34 @@ +import os + +from ament_index_python.packages import get_package_share_directory, get_package_prefix +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + params_file = os.path.join( + get_package_share_directory('hik_camera'), 'config', 'camera_params.yaml') + + camera_info_url = 'package://hik_camera/config/camera_info.yaml' + + return LaunchDescription([ + DeclareLaunchArgument(name='params_file', + default_value=params_file), + DeclareLaunchArgument(name='camera_info_url', + default_value=camera_info_url), + DeclareLaunchArgument(name='use_sensor_data_qos', + default_value='false'), + + Node( + package='hik_camera', + executable='hik_camera_node', + output='screen', + emulate_tty=True, + parameters=[LaunchConfiguration('params_file'), { + 'camera_info_url': LaunchConfiguration('camera_info_url'), + 'use_sensor_data_qos': LaunchConfiguration('use_sensor_data_qos'), + }], + ) + ]) diff --git a/src/rm_vision/ros2-hik-camera/launch/hik_cameras.launch.py b/src/rm_vision/ros2-hik-camera/launch/hik_cameras.launch.py new file mode 100644 index 0000000..7513454 --- /dev/null +++ b/src/rm_vision/ros2-hik-camera/launch/hik_cameras.launch.py @@ -0,0 +1,54 @@ +import os + +from ament_index_python.packages import get_package_share_directory, get_package_prefix +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + params_file = os.path.join( + get_package_share_directory('hik_camera'), 'config', 'camera_params.yaml') + + camera_info_url = 'package://hik_camera/config/camera_info.yaml' + + return LaunchDescription([ + DeclareLaunchArgument(name='params_file', + default_value=params_file), + DeclareLaunchArgument(name='camera_info_url', + default_value=camera_info_url), + DeclareLaunchArgument(name='use_sensor_data_qos', + default_value='false'), + DeclareLaunchArgument(name='left_camera_serial_number', + default_value='DA0377730'), + DeclareLaunchArgument(name='right_camera_serial_number', + default_value='DA4645896'), + + Node( + package='hik_camera', + executable='hik_camera_node', + namespace='left_camera', + name='left_camera', + output='screen', + emulate_tty=True, + parameters=[LaunchConfiguration('params_file'), { + 'camera_info_url': LaunchConfiguration('camera_info_url'), + 'use_sensor_data_qos': LaunchConfiguration('use_sensor_data_qos'), + 'camera_serial_number': LaunchConfiguration('left_camera_serial_number'), + }], + ), + Node( + package='hik_camera', + executable='hik_camera_node', + namespace='right_camera', + name='right_camera', + output='screen', + emulate_tty=True, + parameters=[LaunchConfiguration('params_file'), { + 'camera_info_url': LaunchConfiguration('camera_info_url'), + 'use_sensor_data_qos': LaunchConfiguration('use_sensor_data_qos'), + 'camera_serial_number': LaunchConfiguration('right_camera_serial_number'), + }], + ) + ]) \ No newline at end of file diff --git a/src/rm_vision/ros2-hik-camera/package.xml b/src/rm_vision/ros2-hik-camera/package.xml new file mode 100644 index 0000000..22a1956 --- /dev/null +++ b/src/rm_vision/ros2-hik-camera/package.xml @@ -0,0 +1,28 @@ + + + + hik_camera + 0.0.0 + TODO: Package description + nolem + TODO: License declaration + + + ament_cmake + + + rclcpp + rclcpp_components + sensor_msgs + image_transport + image_transport_plugins + camera_info_manager + + camera_calibration + + ament_lint_auto + ament_lint_common + + ament_cmake + + diff --git a/src/rm_vision/ros2-hik-camera/src/hik_camera_node.cpp b/src/rm_vision/ros2-hik-camera/src/hik_camera_node.cpp new file mode 100644 index 0000000..3831f9c --- /dev/null +++ b/src/rm_vision/ros2-hik-camera/src/hik_camera_node.cpp @@ -0,0 +1,223 @@ +#include "MvCameraControl.h" +// ROS +#include +#include +#include +#include +#include +#include +#include + +namespace hik_camera +{ +class HikCameraNode : public rclcpp::Node +{ +public: + explicit HikCameraNode(const rclcpp::NodeOptions & options) : Node("hik_camera", options) + { + RCLCPP_INFO(this->get_logger(), "Starting HikCameraNode!"); + + MV_CC_DEVICE_INFO_LIST device_list; + // enum device + nRet = MV_CC_EnumDevices(MV_USB_DEVICE, &device_list); + RCLCPP_INFO(this->get_logger(), "Found camera count = %d", device_list.nDeviceNum); + + while (device_list.nDeviceNum == 0 && rclcpp::ok()) { + RCLCPP_ERROR(this->get_logger(), "No camera found!"); + RCLCPP_INFO(this->get_logger(), "Enum state: [%x]", nRet); + std::this_thread::sleep_for(std::chrono::seconds(1)); + nRet = MV_CC_EnumDevices(MV_USB_DEVICE, &device_list); + } + + // Get the desired camera serial number from parameters + std::string desired_serial_number = this->declare_parameter("camera_serial_number", ""); + + bool camera_found = false; + for (unsigned int i = 0; i < device_list.nDeviceNum; ++i) { + if (desired_serial_number == "" || + desired_serial_number == std::string(reinterpret_cast(device_list.pDeviceInfo[i]->SpecialInfo.stUsb3VInfo.chSerialNumber))) { + nRet = MV_CC_CreateHandle(&camera_handle_, device_list.pDeviceInfo[i]); + if (MV_OK == nRet) { + camera_found = true; + break; + } + } + } + + if (!camera_found) { + RCLCPP_FATAL(this->get_logger(), "No camera with the specified serial number found!"); + rclcpp::shutdown(); + return; + } + + MV_CC_OpenDevice(camera_handle_); + + // Get camera infomation + MV_CC_GetImageInfo(camera_handle_, &img_info_); + image_msg_.data.reserve(img_info_.nHeightMax * img_info_.nWidthMax * 3); + + // Init convert param + convert_param_.nWidth = img_info_.nWidthValue; + convert_param_.nHeight = img_info_.nHeightValue; + convert_param_.enDstPixelType = PixelType_Gvsp_RGB8_Packed; + + bool use_sensor_data_qos = this->declare_parameter("use_sensor_data_qos", true); + auto qos = use_sensor_data_qos ? rmw_qos_profile_sensor_data : rmw_qos_profile_default; + camera_pub_ = image_transport::create_camera_publisher(this, "image_raw", qos); + + declareParameters(); + + MV_CC_StartGrabbing(camera_handle_); + + // Load camera info + camera_name_ = this->declare_parameter("camera_name", "narrow_stereo"); + camera_info_manager_ = + std::make_unique(this, camera_name_); + auto camera_info_url = + this->declare_parameter("camera_info_url", "package://hik_camera/config/camera_info.yaml"); + if (camera_info_manager_->validateURL(camera_info_url)) { + camera_info_manager_->loadCameraInfo(camera_info_url); + camera_info_msg_ = camera_info_manager_->getCameraInfo(); + } else { + RCLCPP_WARN(this->get_logger(), "Invalid camera info URL: %s", camera_info_url.c_str()); + } + + params_callback_handle_ = this->add_on_set_parameters_callback( + std::bind(&HikCameraNode::parametersCallback, this, std::placeholders::_1)); + + capture_thread_ = std::thread{[this]() -> void { + MV_FRAME_OUT out_frame; + + RCLCPP_INFO(this->get_logger(), "Publishing image!"); + + image_msg_.header.frame_id = "camera_optical_frame"; + image_msg_.encoding = "rgb8"; + + while (rclcpp::ok()) { + nRet = MV_CC_GetImageBuffer(camera_handle_, &out_frame, 1000); + if (MV_OK == nRet) { + convert_param_.pDstBuffer = image_msg_.data.data(); + convert_param_.nDstBufferSize = image_msg_.data.size(); + convert_param_.pSrcData = out_frame.pBufAddr; + convert_param_.nSrcDataLen = out_frame.stFrameInfo.nFrameLen; + convert_param_.enSrcPixelType = out_frame.stFrameInfo.enPixelType; + + MV_CC_ConvertPixelType(camera_handle_, &convert_param_); + + image_msg_.header.stamp = this->now(); + image_msg_.height = out_frame.stFrameInfo.nHeight; + image_msg_.width = out_frame.stFrameInfo.nWidth; + image_msg_.step = out_frame.stFrameInfo.nWidth * 3; + image_msg_.data.resize(image_msg_.width * image_msg_.height * 3); + + camera_info_msg_.header = image_msg_.header; + camera_pub_.publish(image_msg_, camera_info_msg_); + + MV_CC_FreeImageBuffer(camera_handle_, &out_frame); + fail_conut_ = 0; + } else { + RCLCPP_WARN(this->get_logger(), "Get buffer failed! nRet: [%x]", nRet); + MV_CC_StopGrabbing(camera_handle_); + MV_CC_StartGrabbing(camera_handle_); + fail_conut_++; + } + + if (fail_conut_ > 5) { + RCLCPP_FATAL(this->get_logger(), "Camera failed!"); + rclcpp::shutdown(); + } + std::this_thread::sleep_for(std::chrono::milliseconds(25)); // 25ms 延时对应 40Hz + } + }}; + } + + ~HikCameraNode() override + { + if (capture_thread_.joinable()) { + capture_thread_.join(); + } + if (camera_handle_) { + MV_CC_StopGrabbing(camera_handle_); + MV_CC_CloseDevice(camera_handle_); + MV_CC_DestroyHandle(&camera_handle_); + } + RCLCPP_INFO(this->get_logger(), "HikCameraNode destroyed!"); + } + +private: + void declareParameters() + { + rcl_interfaces::msg::ParameterDescriptor param_desc; + MVCC_FLOATVALUE f_value; + param_desc.integer_range.resize(1); + param_desc.integer_range[0].step = 1; + // Exposure time + param_desc.description = "Exposure time in microseconds"; + MV_CC_GetFloatValue(camera_handle_, "ExposureTime", &f_value); + param_desc.integer_range[0].from_value = f_value.fMin; + param_desc.integer_range[0].to_value = f_value.fMax; + RCLCPP_INFO(this->get_logger(), "Exposure time range: [%f, %f]", f_value.fMin, f_value.fMax); // 打印范围 + double exposure_time = this->declare_parameter("exposure_time", 5000, param_desc); + MV_CC_SetFloatValue(camera_handle_, "ExposureTime", exposure_time); + RCLCPP_INFO(this->get_logger(), "Exposure time: %f", exposure_time); + + // Gain + param_desc.description = "Gain"; + MV_CC_GetFloatValue(camera_handle_, "Gain", & f_value); + param_desc.integer_range[0].from_value = f_value.fMin; + param_desc.integer_range[0].to_value = f_value.fMax; + double gain = this->declare_parameter("gain", f_value.fCurValue, param_desc); + MV_CC_SetFloatValue(camera_handle_, "Gain", gain); + RCLCPP_INFO(this->get_logger(), "Gain: %f", gain); + } + + rcl_interfaces::msg::SetParametersResult parametersCallback( + const std::vector & parameters) + { + rcl_interfaces::msg::SetParametersResult result; + result.successful = true; + for (const auto & param : parameters) { + if (param.get_name() == "exposure_time") { + int status = MV_CC_SetFloatValue(camera_handle_, "ExposureTime", param.as_int()); + if (MV_OK != status) { + result.successful = false; + result.reason = "Failed to set exposure time, status = " + std::to_string(status); + } + } else if (param.get_name() == "gain") { + int status = MV_CC_SetFloatValue(camera_handle_, "Gain", param.as_double()); + if (MV_OK != status) { + result.successful = false; + result.reason = "Failed to set gain, status = " + std::to_string(status); + } + } else { + result.successful = false; + result.reason = "Unknown parameter: " + param.get_name(); + } + } + return result; + } + + sensor_msgs::msg::Image image_msg_; + + image_transport::CameraPublisher camera_pub_; + + int nRet = MV_OK; + void * camera_handle_; + MV_IMAGE_BASIC_INFO img_info_; + + MV_CC_PIXEL_CONVERT_PARAM convert_param_; + + std::string camera_name_; + std::unique_ptr camera_info_manager_; + sensor_msgs::msg::CameraInfo camera_info_msg_; + + int fail_conut_ = 0; + std::thread capture_thread_; + + OnSetParametersCallbackHandle::SharedPtr params_callback_handle_; +}; +} // namespace hik_camera + +#include "rclcpp_components/register_node_macro.hpp" + +RCLCPP_COMPONENTS_REGISTER_NODE(hik_camera::HikCameraNode) \ No newline at end of file diff --git a/start.sh b/start.sh new file mode 100755 index 0000000..8ecddb0 --- /dev/null +++ b/start.sh @@ -0,0 +1,17 @@ +cd /home/robofish/Move_AI +source install/setup.bash +commands=( + "ros2 launch rm_nav_bringup bringup_real.launch.py \ + world:=UL \ + mode:=nav \ + lio:=fastlio \ + localization:=icp \ + lio_rviz:=false \ + nav_rviz:=true" + "ros2 launch rm_simpal_move simple_move.launch.py" +) + +for cmd in "${commands[@]}"; do + gnome-terminal -- bash -c "source install/setup.bash; $cmd; exec bash" + sleep 0.5 +done diff --git a/tracker.sh b/tracker.sh new file mode 100755 index 0000000..638b55e --- /dev/null +++ b/tracker.sh @@ -0,0 +1 @@ +ros2 launch armor_tracker tracker.launch.py \ No newline at end of file diff --git a/vision.sh b/vision.sh new file mode 100755 index 0000000..f668548 --- /dev/null +++ b/vision.sh @@ -0,0 +1,12 @@ +cd /home/robofish/Move_AI +source install/setup.bash +commands=( + "ros2 launch rm_vision_bringup vision_bringup.launch.py" + "ros2 launch armor_tracker tracker.launch.py" + "ros2 launch rm_serial_driver rm_serial_driver.launch.py" +) + +for cmd in "${commands[@]}"; do + gnome-terminal -- bash -c "source install/setup.bash; $cmd; exec bash" + sleep 0.5 +done diff --git a/vision_start.sh b/vision_start.sh new file mode 100755 index 0000000..350fe32 --- /dev/null +++ b/vision_start.sh @@ -0,0 +1,23 @@ +#!/bin/bash + +set -e # 在发生错误时退出脚本 +set -x # 打印每个命令 + +cd /home/robofish/Move_AI +source install/setup.bash + +commands=( + "ros2 launch rm_vision_bringup vision_bringup.launch.py" + "ros2 launch rm_serial_driver rm_serial_driver.launch.py" + "ros2 launch armor_tracker tracker.launch.py" +) + +for cmd in "${commands[@]}"; do + echo "Running: $cmd" + $cmd + if [ $? -ne 0 ]; then + echo "Command failed: $cmd" + exit 1 + fi + sleep 0.5 +done \ No newline at end of file diff --git a/目标点展示.png b/目标点展示.png new file mode 100644 index 0000000..79e3ec5 Binary files /dev/null and b/目标点展示.png differ