oscillation_cost_function.h
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00037 
00038 #ifndef OSCILLATION_COST_FUNCTION_H_
00039 #define OSCILLATION_COST_FUNCTION_H_
00040 
00041 #include <base_local_planner/trajectory_cost_function.h>
00042 #include <Eigen/Core>
00043 
00044 namespace base_local_planner {
00045 
00046 class OscillationCostFunction: public base_local_planner::TrajectoryCostFunction {
00047 public:
00048   OscillationCostFunction();
00049   virtual ~OscillationCostFunction();
00050 
00051   double scoreTrajectory(Trajectory &traj);
00052 
00053   bool prepare() {return true;};
00054 
00058   void resetOscillationFlags();
00059 
00060 
00061   void updateOscillationFlags(Eigen::Vector3f pos, base_local_planner::Trajectory* traj, double min_vel_trans);
00062 
00063   void setOscillationResetDist(double dist, double angle);
00064 
00065 private:
00066 
00067   void resetOscillationFlagsIfPossible(const Eigen::Vector3f& pos, const Eigen::Vector3f& prev);
00068 
00075   bool setOscillationFlags(base_local_planner::Trajectory* t, double min_vel_trans);
00076 
00077   // flags
00078   bool strafe_pos_only_, strafe_neg_only_, strafing_pos_, strafing_neg_;
00079   bool rot_pos_only_, rot_neg_only_, rotating_pos_, rotating_neg_;
00080   bool forward_pos_only_, forward_neg_only_, forward_pos_, forward_neg_;
00081 
00082   // param
00083   double oscillation_reset_dist_, oscillation_reset_angle_;
00084 
00085   Eigen::Vector3f prev_stationary_pos_;
00086 };
00087 
00088 } /* namespace base_local_planner */
00089 #endif /* OSCILLATION_COST_FUNCTION_H_ */


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:46:30