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Add the goal to NavFN tolerance region traversing algorithm #1734

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merged 2 commits into from
May 20, 2020
Merged

Add the goal to NavFN tolerance region traversing algorithm #1734

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1648f4d
Consider the goal itself when looking to potential within tolerance r…
AlexeyMerzlyakov May 18, 2020
5e21234
Fixed comments
AlexeyMerzlyakov May 18, 2020
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68 changes: 42 additions & 26 deletions nav2_navfn_planner/src/navfn_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -213,26 +213,35 @@ NavfnPlanner::makePlan(

double resolution = costmap_->getResolution();
geometry_msgs::msg::Pose p, best_pose;
p = goal;

bool found_legal = false;
double best_sdist = std::numeric_limits<double>::max();

p.position.y = goal.position.y - tolerance;

while (p.position.y <= goal.position.y + tolerance) {
p.position.x = goal.position.x - tolerance;
while (p.position.x <= goal.position.x + tolerance) {
double potential = getPointPotential(p.position);
double sdist = squared_distance(p, goal);
if (potential < POT_HIGH && sdist < best_sdist) {
best_sdist = sdist;
best_pose = p;
found_legal = true;

p = goal;
double potential = getPointPotential(p.position);
if (potential < POT_HIGH) {
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Shouldn't this be taken care of from the while loop condition (p.position.y <= goal.position.y + tolerance)? In that case that its the goal, it meets that spec and it shouldn't even enter the while loop

// Goal is reachable by itself
best_pose = p;
found_legal = true;
} else {
// Goal is not reachable. Trying to find nearest to the goal
// reachable point within its tolerance region
double best_sdist = std::numeric_limits<double>::max();

p.position.y = goal.position.y - tolerance;
while (p.position.y <= goal.position.y + tolerance) {
p.position.x = goal.position.x - tolerance;
while (p.position.x <= goal.position.x + tolerance) {
potential = getPointPotential(p.position);
double sdist = squared_distance(p, goal);
if (potential < POT_HIGH && sdist < best_sdist) {
best_sdist = sdist;
best_pose = p;
found_legal = true;
}
p.position.x += resolution;
}
p.position.x += resolution;
p.position.y += resolution;
}
p.position.y += resolution;
}

if (found_legal) {
Expand Down Expand Up @@ -361,18 +370,25 @@ NavfnPlanner::validPointPotential(
const double resolution = costmap_->getResolution();

geometry_msgs::msg::Point p = world_point;
p.y = world_point.y - tolerance;

while (p.y <= world_point.y + tolerance) {
p.x = world_point.x - tolerance;
while (p.x <= world_point.x + tolerance) {
double potential = getPointPotential(p);
if (potential < POT_HIGH) {
return true;
double potential = getPointPotential(p);
if (potential < POT_HIGH) {
// world_point is reachable by itself
return true;
} else {
// world_point, is not reachable. Trying to find any
// reachable point within its tolerance region
p.y = world_point.y - tolerance;
while (p.y <= world_point.y + tolerance) {
p.x = world_point.x - tolerance;
while (p.x <= world_point.x + tolerance) {
potential = getPointPotential(p);
if (potential < POT_HIGH) {
return true;
}
p.x += resolution;
}
p.x += resolution;
p.y += resolution;
}
p.y += resolution;
}

return false;
Expand Down