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Updated code to use getInflationLayer() method #4076

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merged 2 commits into from
Jan 26, 2024
Merged

Updated code to use getInflationLayer() method #4076

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9d7d567
updated code to use getInflationLayer method
jncfa Jan 26, 2024
22c2a15
Fix linting
jncfa Jan 26, 2024
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25 changes: 6 additions & 19 deletions nav2_mppi_controller/src/critics/obstacles_critic.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@

#include <cmath>
#include "nav2_mppi_controller/critics/obstacles_critic.hpp"

#include "nav2_costmap_2d/inflation_layer.hpp"
namespace mppi::critics
{

Expand Down Expand Up @@ -56,35 +56,22 @@ float ObstaclesCritic::findCircumscribedCost(
std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap)
{
double result = -1.0;
bool inflation_layer_found = false;

const double circum_radius = costmap->getLayeredCostmap()->getCircumscribedRadius();
if (static_cast<float>(circum_radius) == circumscribed_radius_) {
// early return if footprint size is unchanged
return circumscribed_cost_;
}

// check if the costmap has an inflation layer
for (auto layer = costmap->getLayeredCostmap()->getPlugins()->begin();
layer != costmap->getLayeredCostmap()->getPlugins()->end();
++layer)
{
auto inflation_layer = std::dynamic_pointer_cast<nav2_costmap_2d::InflationLayer>(*layer);
if (!inflation_layer ||
(!inflation_layer_name_.empty() &&
inflation_layer->getName() != inflation_layer_name_))
{
continue;
}

inflation_layer_found = true;
const auto inflation_layer = nav2_costmap_2d::InflationLayer::getInflationLayer(
costmap,
inflation_layer_name_);
if (inflation_layer != nullptr) {
const double resolution = costmap->getCostmap()->getResolution();
result = inflation_layer->computeCost(circum_radius / resolution);
inflation_scale_factor_ = static_cast<float>(inflation_layer->getCostScalingFactor());
inflation_radius_ = static_cast<float>(inflation_layer->getInflationRadius());
}

if (!inflation_layer_found) {
} else {
RCLCPP_WARN(
logger_,
"No inflation layer found in costmap configuration. "
Expand Down
18 changes: 3 additions & 15 deletions nav2_smac_planner/include/nav2_smac_planner/utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -76,27 +76,15 @@ inline geometry_msgs::msg::Quaternion getWorldOrientation(
inline double findCircumscribedCost(std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap)
{
double result = -1.0;
bool inflation_layer_found = false;
std::vector<std::shared_ptr<nav2_costmap_2d::Layer>>::iterator layer;

// check if the costmap has an inflation layer
for (layer = costmap->getLayeredCostmap()->getPlugins()->begin();
layer != costmap->getLayeredCostmap()->getPlugins()->end();
++layer)
{
std::shared_ptr<nav2_costmap_2d::InflationLayer> inflation_layer =
std::dynamic_pointer_cast<nav2_costmap_2d::InflationLayer>(*layer);
if (!inflation_layer) {
continue;
}

inflation_layer_found = true;
const auto inflation_layer = nav2_costmap_2d::InflationLayer::getInflationLayer(costmap);
if (inflation_layer != nullptr) {
double circum_radius = costmap->getLayeredCostmap()->getCircumscribedRadius();
double resolution = costmap->getCostmap()->getResolution();
result = static_cast<double>(inflation_layer->computeCost(circum_radius / resolution));
}

if (!inflation_layer_found) {
} else {
RCLCPP_WARN(
rclcpp::get_logger("computeCircumscribedCost"),
"No inflation layer found in costmap configuration. "
Expand Down
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