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 00035 #include <dwb_plugins/stopped_goal_checker.h> 00036 #include <pluginlib/class_list_macros.h> 00037 00038 namespace dwb_plugins 00039 { 00040 00041 StoppedGoalChecker::StoppedGoalChecker() : 00042 SimpleGoalChecker(), rot_stopped_velocity_(0.25), trans_stopped_velocity_(0.25) 00043 { 00044 } 00045 00046 void StoppedGoalChecker::initialize(const ros::NodeHandle& nh) 00047 { 00048 SimpleGoalChecker::initialize(nh); 00049 nh.param("rot_stopped_velocity", rot_stopped_velocity_, 0.25); 00050 nh.param("trans_stopped_velocity", trans_stopped_velocity_, 0.25); 00051 } 00052 00053 bool StoppedGoalChecker::isGoalReached(const geometry_msgs::Pose2D& query_pose, const geometry_msgs::Pose2D& goal_pose, 00054 const nav_2d_msgs::Twist2D& velocity) 00055 { 00056 bool ret = SimpleGoalChecker::isGoalReached(query_pose, goal_pose, velocity); 00057 if (!ret) 00058 { 00059 return ret; 00060 } 00061 return fabs(velocity.theta) <= rot_stopped_velocity_ 00062 && fabs(velocity.x) <= trans_stopped_velocity_ && fabs(velocity.y) <= trans_stopped_velocity_; 00063 } 00064 00065 } // namespace dwb_plugins 00066 00067 PLUGINLIB_EXPORT_CLASS(dwb_plugins::StoppedGoalChecker, dwb_local_planner::GoalChecker)