stepback_and_steerturn_recovery.cpp File Reference

#include <stepback_and_steerturn_recovery/stepback_and_steerturn_recovery.h>
#include <pluginlib/class_list_macros.h>
#include <tf/transform_datatypes.h>

Include dependency graph for stepback_and_steerturn_recovery.cpp:

Go to the source code of this file.

Functions
	PLUGINLIB_DECLARE_CLASS (stepback_and_steerturn_recovery, StepBackAndSteerTurnRecovery, stepback_and_steerturn_recovery::StepBackAndSteerTurnRecovery, nav_core::RecoveryBehavior) namespace stepback_and_steerturn_recovery

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Function Documentation

PLUGINLIB_DECLARE_CLASS	(	stepback_and_steerturn_recovery	,
		StepBackAndSteerTurnRecovery	,
		stepback_and_steerturn_recovery::StepBackAndSteerTurnRecovery	,
		nav_core::RecoveryBehavior
	)

Author:

Masaru Morita

Return the cost of a pose, modified so that -1 does not equal infinity; instead 1e9 does.

Return the maximum d <= duration_ such that starting at the current pose, the cost is nonincreasing for d seconds if we follow twist It might also be good to have a threshold such that we're allowed to have lethal cost for at most the first k of those d seconds, but this is not done

Definition at line 40 of file stepback_and_steerturn_recovery.cpp.