MPPIController.hpp

// Copyright 2025 Intelligent Robotics Lab
//
// This file is part of the project Easy Navigation (EasyNav in short)
// 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.

#ifndef EASYNAV_MPPI_CONTROLLER__MPPICONTROLLER_HPP_
#define EASYNAV_MPPI_CONTROLLER__MPPICONTROLLER_HPP_

#include <memory>
#include <expected>
#include <string>

#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/point.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "nav_msgs/msg/path.hpp"

#include "easynav_core/ControllerMethodBase.hpp"
#include "easynav_common/types/NavState.hpp"

#include "easynav_mppi_controller/MPPIOptimizer.hpp"

#include "visualization_msgs/msg/marker.hpp"
#include "visualization_msgs/msg/marker_array.hpp"
#include "sensor_msgs/msg/point_cloud2.hpp"

namespace easynav
{

/// \brief A MPPI Controller.
class MPPIController : public ControllerMethodBase
{
public:
  MPPIController();

  /// \brief Destructor.
  ~MPPIController() override;

  /// \brief Initializes parameters and MPPI controller.
  /// \return std::expected<void, std::string> success or error message.
  std::expected<void, std::string> on_initialize() override;

  /// \brief Updates the controller using the given NavState.
  /// \param nav_state Current navigation state, including odometry and planned path.
  void update_rt(NavState & nav_state) override;

protected:
  int num_samples_{100};      ///< Number of samples for MPPI.
  int horizon_steps_{10};     ///< Prediction horizon for MPPI.
  double dt_{0.1};            ///< Time step for MPPI.
  double lambda_{0.1};        ///< Temperature parameter for MPPI.
  double max_lin_vel_{1.0};   ///< Maximum linear velocity for MPPI.
  double max_ang_vel_{1.0};   ///< Maximum angular velocity for MPPI.
  double max_lin_acc_{0.5};   ///< Maximum linear acceleration for MPPI.
  double max_ang_acc_{1.0};   ///< Maximum angular acceleration for MPPI.
  double fov_{M_PI / 2.0};    ///< Field of view for MPPI.
  double safety_radius_{0.6}; ///< Safety radius for obstacle avoidance.

  geometry_msgs::msg::TwistStamped twist_stamped_;  ///< Current velocity command.

  std::unique_ptr<MPPIOptimizer> optimizer_;  ///< MPPI optimizer
  rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr mppi_candidates_pub_; ///< Publisher for MPPI candidates markers.
  rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr mppi_optimal_pub_;    ///< Publisher for MPPI optimal path markers.

  /// \brief Publishes MPPI markers for visualization.
  /// \param all_trajs All trajectories generated by MPPI.
  /// \param best_traj Optimal trajectory generated by MPPI.
  void publish_mppi_markers(
    const std::vector<std::vector<std::pair<double, double>>> & all_trajs,
    const std::vector<std::pair<double, double>> & best_traj);

};

}  // namespace easynav

#endif  // EASYNAV_MPPI_CONTROLLER__MPPICONTROLLER_HPP_