goal_align.cpp

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#include <dwb_critics/goal_align.h>
#include <dwb_critics/alignment_util.h>
#include <pluginlib/class_list_macros.h>
#include <nav_2d_utils/parameters.h>
#include <vector>
#include <string>

namespace dwb_critics
{

void GoalAlignCritic::onInit()
{
  GoalDistCritic::onInit();
  stop_on_failure_ = false;
  forward_point_distance_ = nav_2d_utils::searchAndGetParam(critic_nh_, "forward_point_distance", 0.325);
}

bool GoalAlignCritic::prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel,
                              const geometry_msgs::Pose2D& goal,
                              const nav_2d_msgs::Path2D& global_plan)
{
  // we want the robot nose to be drawn to its final position
  // (before robot turns towards goal orientation), not the end of the
  // path for the robot center. Choosing the final position after
  // turning towards goal orientation causes instability when the
  // robot needs to make a 180 degree turn at the end
  double angle_to_goal = atan2(goal.y - pose.y, goal.x - pose.x);

  nav_2d_msgs::Path2D target_poses = global_plan;
  target_poses.poses.back().x += forward_point_distance_ * cos(angle_to_goal);
  target_poses.poses.back().y += forward_point_distance_ * sin(angle_to_goal);

  return GoalDistCritic::prepare(pose, vel, goal, target_poses);
}

double GoalAlignCritic::scorePose(const geometry_msgs::Pose2D& pose)
{
  return GoalDistCritic::scorePose(getForwardPose(pose, forward_point_distance_));
}

}  // namespace dwb_critics

PLUGINLIB_EXPORT_CLASS(dwb_critics::GoalAlignCritic, dwb_local_planner::TrajectoryCritic)