00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2017, Locus Robotics 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the copyright holder nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 #ifndef DWB_CRITICS_ROTATE_TO_GOAL_H_ 00035 #define DWB_CRITICS_ROTATE_TO_GOAL_H_ 00036 00037 #include <dwb_local_planner/trajectory_critic.h> 00038 #include <string> 00039 #include <vector> 00040 00041 namespace dwb_critics 00042 { 00043 00070 class RotateToGoalCritic : public dwb_local_planner::TrajectoryCritic 00071 { 00072 public: 00073 void onInit() override; 00074 void reset() override; 00075 bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel, 00076 const geometry_msgs::Pose2D& goal, const nav_2d_msgs::Path2D& global_plan) override; 00077 double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) override; 00078 00087 virtual double scoreRotation(const dwb_msgs::Trajectory2D& traj); 00088 00089 protected: 00090 bool in_window_, rotating_; 00091 double goal_yaw_; 00092 double xy_goal_tolerance_; 00093 double xy_goal_tolerance_sq_; 00094 double current_xy_speed_sq_, stopped_xy_velocity_sq_; 00095 double slowing_factor_; 00096 double lookahead_time_; 00097 }; 00098 00099 } // namespace dwb_critics 00100 #endif // DWB_CRITICS_ROTATE_TO_GOAL_H_