twirling.cpp
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00001 /*
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00034 
00035 #include <dwb_critics/twirling.h>
00036 #include <pluginlib/class_list_macros.h>
00037 
00038 namespace dwb_critics
00039 {
00040 void TwirlingCritic::onInit()
00041 {
00042   // Scale is set to 0 by default, so if it was not set otherwise, set to 0
00043   if (!critic_nh_.hasParam("scale"))
00044   {
00045     scale_ = 0.0;
00046   }
00047 }
00048 
00049 double TwirlingCritic::scoreTrajectory(const dwb_msgs::Trajectory2D& traj)
00050 {
00051   return fabs(traj.velocity.theta);  // add cost for making the robot spin
00052 }
00053 }  // namespace dwb_critics
00054 
00055 PLUGINLIB_EXPORT_CLASS(dwb_critics::TwirlingCritic, dwb_local_planner::TrajectoryCritic)


dwb_critics
Author(s): David V. Lu!!
autogenerated on Wed Jun 26 2019 20:09:47