Cost Critic better collision checking

nav2_mppi_controller/CMakeLists.txt

@@ -40,6 +40,7 @@ endif()
 
 add_library(mppi_controller SHARED
   src/controller.cpp
+  src/collision_checker.cpp
   src/critic_manager.cpp
   src/noise_generator.cpp
   src/optimizer.cpp

nav2_mppi_controller/include/nav2_mppi_controller/collision_checker.hpp

@@ -0,0 +1,148 @@
+// Copyright (c) 2025, Angsa Robotics GmbH
+//
+// 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. Reserved.
+
+#ifndef NAV2_MPPI_CONTROLLER__COLLISION_CHECKER_HPP_
+#define NAV2_MPPI_CONTROLLER__COLLISION_CHECKER_HPP_
+
+#include <memory>
+#include <vector>
+#include <string>
+
+#include "nav2_costmap_2d/footprint_collision_checker.hpp"
+#include "nav2_costmap_2d/costmap_2d_ros.hpp"
+#include "nav2_costmap_2d/cost_values.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+
+
+namespace nav2_mppi_controller
+{
+
+/**
+ * @struct CollisionResult
+ * @brief Result of collision checking
+ */
+struct CollisionResult
+{
+  bool in_collision;
+  std::vector<float> center_cost;
+  std::vector<float> footprint_cost;
+};
+
+/**
+ * @class nav2_mppi_controller::MPPICollisionChecker
+ * @brief A costmap grid collision checker
+ */
+class MPPICollisionChecker
+  : public nav2_costmap_2d::FootprintCollisionChecker<nav2_costmap_2d::Costmap2D *>
+{
+public:
+  /**
+   * @brief A constructor for nav2_mppi_controller::MPPICollisionChecker
+   * @param costmap The costmap to collision check against
+   * @param node Node to extract clock and logger from
+   */
+  MPPICollisionChecker(
+    std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap,
+    rclcpp_lifecycle::LifecycleNode::SharedPtr node);
+
+  /**
+   * @brief A constructor for nav2_mppi_controller::MPPICollisionChecker
+   * for use when irregular bin intervals are appropriate
+   * @param costmap The costmap to collision check against
+   * @param angles The vector of possible angle bins to precompute for
+   * orientations for to speed up collision checking, in radians
+   */
+  // MPPICollisionChecker(
+  //   nav2_costmap_2d::Costmap2D * costmap,
+  //   std::vector<float> & angles);
+
+  /**
+   * @brief Set the footprint to use with collision checker
+   * @param footprint The footprint to collision check against
+   * @param radius Whether or not the footprint is a circle and use radius collision checking
+   * @param inflation_layer_name Optional name of inflation layer for cost calculation
+   */
+  void setFootprint(
+    const nav2_costmap_2d::Footprint & footprint,
+    const bool & radius,
+    const std::string & inflation_layer_name = "");
+
+  /**
+   * @brief Check if in collision with costmap and footprint at poses (batch processing)
+   * @param x Vector of X coordinates of poses to check against
+   * @param y Vector of Y coordinates of poses to check against
+   * @param yaw Vector of yaw angles of poses to check against in radians
+   * @param traverse_unknown Whether or not to traverse in unknown space
+   * @return CollisionResult struct with collision status and vectors of center cost, footprint cost, and area cost
+   */
+  CollisionResult inCollision(
+    const std::vector<float> & x,
+    const std::vector<float> & y,
+    const std::vector<float> & yaw,
+    const bool & traverse_unknown);
+
+  /**
+   * @brief Get costmap ros object for inflation layer params
+   * @return Costmap ros
+   */
+  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> getCostmapROS() {return costmap_ros_;}
+
+  /**
+   * @brief Check if value outside the range
+   * @param max Maximum value of the range
+   * @param value the value to check if it is within the range
+   * @return boolean if in range or not
+   */
+  bool outsideRange(const unsigned int & max, const float & value) const;
+
+  /**
+   * @brief Create convex hull from a set of points
+   * @param points Input points to create convex hull from
+   * @return Convex hull as a footprint
+   */
+  nav2_costmap_2d::Footprint createConvexHull(
+    const std::vector<geometry_msgs::msg::Point> & points);
+
+  /**
+   * @brief Find the circumscribed cost for collision checking optimization
+   * @param inflation_layer_name Optional name of inflation layer
+   * @return The circumscribed cost value
+   */
+  float findCircumscribedCost(const std::string & inflation_layer_name = "");
+
+private:
+  /**
+   * @brief Transform footprint to given orientation
+   * @param footprint The base footprint to transform
+   * @param yaw The yaw angle to transform to
+   * @return Transformed footprint
+   */
+  nav2_costmap_2d::Footprint transformFootprint(
+    const nav2_costmap_2d::Footprint & footprint,
+    float yaw) const;
+
+protected:
+  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
+  nav2_costmap_2d::Footprint unoriented_footprint_;
+  bool footprint_is_radius_{false};
+  float possible_collision_cost_{-1};
+  float circumscribed_radius_{-1.0f};
+  float circumscribed_cost_{-1.0f};
+  rclcpp::Logger logger_{rclcpp::get_logger("MPPICollisionChecker")};
+  rclcpp::Clock::SharedPtr clock_;
+};
+
+}  // namespace nav2_mppi_controller
+
+#endif  // NAV2_MPPI_CONTROLLER__COLLISION_CHECKER_HPP_

nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp

@@ -18,8 +18,8 @@
 #include <memory>
 #include <string>
 
-#include "nav2_costmap_2d/footprint_collision_checker.hpp"
 #include "nav2_costmap_2d/inflation_layer.hpp"
+#include "nav2_mppi_controller/collision_checker.hpp"
 
 #include "nav2_mppi_controller/critic_function.hpp"
 #include "nav2_mppi_controller/models/state.hpp"
@@ -48,47 +48,6 @@ class CostCritic : public CriticFunction
   void score(CriticData & data) override;
 
 protected:
-  /**
-    * @brief Checks if cost represents a collision
-    * @param cost Point cost at pose center
-    * @param x X of pose
-    * @param y Y of pose
-    * @param theta theta of pose
-    * @return bool if in collision
-    */
-  inline bool inCollision(float cost, float x, float y, float theta)
-  {
-    // If consider_footprint_ check footprint scort for collision
-    float score_cost = cost;
-    if (consider_footprint_ &&
-      (cost >= possible_collision_cost_ || possible_collision_cost_ < 1.0f))
-    {
-      score_cost = static_cast<float>(collision_checker_.footprintCostAtPose(
-          static_cast<double>(x), static_cast<double>(y), static_cast<double>(theta),
-          costmap_ros_->getRobotFootprint()));
-    }
-
-    switch (static_cast<unsigned char>(score_cost)) {
-      case (nav2_costmap_2d::LETHAL_OBSTACLE):
-        return true;
-      case (nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE):
-        return consider_footprint_ ? false : true;
-      case (nav2_costmap_2d::NO_INFORMATION):
-        return is_tracking_unknown_ ? false : true;
-    }
-
-    return false;
-  }
-
-  /**
-    * @brief Find the min cost of the inflation decay function for which the robot MAY be
-    * in collision in any orientation
-    * @param costmap Costmap2DROS to get minimum inscribed cost (e.g. 128 in inflation layer documentation)
-    * @return double circumscribed cost, any higher than this and need to do full footprint collision checking
-    * since some element of the robot could be in collision
-    */
-  inline float findCircumscribedCost(std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap);
-
   /**
     * @brief An implementation of worldToMap fully using floats
     * @param wx Float world X coord
@@ -123,14 +82,10 @@ class CostCritic : public CriticFunction
     return my * size_x_ + mx;
   }
 
-  nav2_costmap_2d::FootprintCollisionChecker<nav2_costmap_2d::Costmap2D *>
-  collision_checker_{nullptr};
+  std::unique_ptr<nav2_mppi_controller::MPPICollisionChecker> collision_checker_;
   float possible_collision_cost_;
-
   bool consider_footprint_{true};
   bool is_tracking_unknown_{true};
-  float circumscribed_radius_{0.0f};
-  float circumscribed_cost_{0.0f};
   float collision_cost_{0.0f};
   float critical_cost_{0.0f};
   unsigned int near_collision_cost_{253};