Penalize trajectories with rotational velocities. More...
#include <twirling.h>
Inheritance diagram for dwb_critics::TwirlingCritic:
Public Member Functions | |
| void | onInit () override |
| double | scoreTrajectory (const dwb_msgs::Trajectory2D &traj) override |
Detailed Description
Penalize trajectories with rotational velocities.
This class provides a cost based on how much a robot "twirls" on its way to the goal. With differential-drive robots, there isn't a choice, but with holonomic or near-holonomic robots, sometimes a robot spins more than you'd like on its way to a goal. This class provides a way to assign a penalty purely to rotational velocities.
Definition at line 51 of file twirling.h.
Member Function Documentation
| void dwb_critics::TwirlingCritic::onInit | ( | ) | [override, virtual] |
Reimplemented from dwb_local_planner::TrajectoryCritic.
Definition at line 40 of file twirling.cpp.
| double dwb_critics::TwirlingCritic::scoreTrajectory | ( | const dwb_msgs::Trajectory2D & | traj | ) | [override, virtual] |
Implements dwb_local_planner::TrajectoryCritic.
Definition at line 49 of file twirling.cpp.
The documentation for this class was generated from the following files: