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planning/collision_free_path_planner/include/collision_free_path_planner/debug_marker.hpp
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...ing/collision_free_path_planner/include/collision_free_path_planner/eb_path_optimizer.hpp
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planning/collision_free_path_planner/include/collision_free_path_planner/utils/cv_utils.hpp
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.../collision_free_path_planner/include/collision_free_path_planner/utils/geometry_utils.hpp
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| // Copyright 2022 Tier IV, 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. | ||
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| #ifndef COLLISION_FREE_PATH_PLANNER__UTILS__GEOMETRY_UTILS_HPP_ | ||
| #define COLLISION_FREE_PATH_PLANNER__UTILS__GEOMETRY_UTILS_HPP_ | ||
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| #include "collision_free_path_planner/common_structs.hpp" | ||
| #include "collision_free_path_planner/type_alias.hpp" | ||
| #include "eigen3/Eigen/Core" | ||
| #include "interpolation/linear_interpolation.hpp" | ||
| #include "interpolation/spline_interpolation.hpp" | ||
| #include "interpolation/spline_interpolation_points_2d.hpp" | ||
| #include "motion_utils/trajectory/trajectory.hpp" | ||
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| #include "autoware_auto_planning_msgs/msg/path_point.hpp" | ||
| #include "autoware_auto_planning_msgs/msg/trajectory.hpp" | ||
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| #include "boost/optional/optional_fwd.hpp" | ||
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| #include <algorithm> | ||
| #include <limits> | ||
| #include <memory> | ||
| #include <string> | ||
| #include <vector> | ||
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| struct collision_free_path_planner::ReferencePoint; | ||
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| namespace tier4_autoware_utils | ||
| { | ||
| template <> | ||
| geometry_msgs::msg::Point getPoint(const collision_free_path_planner::ReferencePoint & p); | ||
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| template <> | ||
| geometry_msgs::msg::Pose getPose(const collision_free_path_planner::ReferencePoint & p); | ||
| } // namespace tier4_autoware_utils | ||
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| namespace collision_free_path_planner | ||
| { | ||
| namespace geometry_utils | ||
| { | ||
| template <typename T> | ||
| geometry_msgs::msg::Point transformToRelativeCoordinate2D( | ||
| const T & point, const geometry_msgs::msg::Pose & origin) | ||
| { | ||
| // NOTE: implement transformation without defining yaw variable | ||
| // but directly sin/cos of yaw for fast calculation | ||
| const auto & q = origin.orientation; | ||
| const double cos_yaw = 1 - 2 * q.z * q.z; | ||
| const double sin_yaw = 2 * q.w * q.z; | ||
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| geometry_msgs::msg::Point relative_p; | ||
| const double tmp_x = point.x - origin.position.x; | ||
| const double tmp_y = point.y - origin.position.y; | ||
| relative_p.x = tmp_x * cos_yaw + tmp_y * sin_yaw; | ||
| relative_p.y = -tmp_x * sin_yaw + tmp_y * cos_yaw; | ||
| relative_p.z = point.z; | ||
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| return relative_p; | ||
| } | ||
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| geometry_msgs::msg::Point transformToAbsoluteCoordinate2D( | ||
| const geometry_msgs::msg::Point & point, const geometry_msgs::msg::Pose & origin); | ||
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| geometry_msgs::msg::Quaternion getQuaternionFromPoints( | ||
| const geometry_msgs::msg::Point & a, const geometry_msgs::msg::Point & a_root); | ||
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| geometry_msgs::msg::Quaternion getQuaternionFromPoints( | ||
| const geometry_msgs::msg::Point & p1, const geometry_msgs::msg::Point & p2, | ||
| const geometry_msgs::msg::Point & p3, const geometry_msgs::msg::Point & p4); | ||
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| template <typename T> | ||
| geometry_msgs::msg::Point transformMapToImage( | ||
| const T & map_point, const nav_msgs::msg::MapMetaData & occupancy_grid_info) | ||
| { | ||
| geometry_msgs::msg::Point relative_p = | ||
| transformToRelativeCoordinate2D(map_point, occupancy_grid_info.origin); | ||
| double resolution = occupancy_grid_info.resolution; | ||
| double map_y_height = occupancy_grid_info.height; | ||
| double map_x_width = occupancy_grid_info.width; | ||
| double map_x_in_image_resolution = relative_p.x / resolution; | ||
| double map_y_in_image_resolution = relative_p.y / resolution; | ||
| geometry_msgs::msg::Point image_point; | ||
| image_point.x = map_y_height - map_y_in_image_resolution; | ||
| image_point.y = map_x_width - map_x_in_image_resolution; | ||
| return image_point; | ||
| } | ||
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| boost::optional<geometry_msgs::msg::Point> transformMapToOptionalImage( | ||
| const geometry_msgs::msg::Point & map_point, | ||
| const nav_msgs::msg::MapMetaData & occupancy_grid_info); | ||
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| bool transformMapToImage( | ||
| const geometry_msgs::msg::Point & map_point, | ||
| const nav_msgs::msg::MapMetaData & occupancy_grid_info, geometry_msgs::msg::Point & image_point); | ||
| } // namespace geometry_utils | ||
| } // namespace collision_free_path_planner | ||
| #endif // COLLISION_FREE_PATH_PLANNER__UTILS__GEOMETRY_UTILS_HPP_ |
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