oscillation_cost_function.cpp
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37 
39 
40 #include <cmath>
41 
42 namespace base_local_planner {
43 
45 }
46 
48  prev_stationary_pos_ = Eigen::Vector3f::Zero();
49 }
50 
51 void OscillationCostFunction::setOscillationResetDist(double dist, double angle) {
54 }
55 
56 void OscillationCostFunction::updateOscillationFlags(Eigen::Vector3f pos, base_local_planner::Trajectory* traj, double min_vel_trans) {
57  if (traj->cost_ >= 0) {
58  if (setOscillationFlags(traj, min_vel_trans)) {
60  }
61  //if we've got restrictions... check if we can reset any oscillation flags
66  }
67  }
68 }
69 
70 void OscillationCostFunction::resetOscillationFlagsIfPossible(const Eigen::Vector3f& pos, const Eigen::Vector3f& prev) {
71  double x_diff = pos[0] - prev[0];
72  double y_diff = pos[1] - prev[1];
73  double sq_dist = x_diff * x_diff + y_diff * y_diff;
74 
75  double th_diff = pos[2] - prev[2];
76 
77  //if we've moved far enough... we can reset our flags
79  fabs(th_diff) > oscillation_reset_angle_) {
81  }
82 }
83 
85  strafe_pos_only_ = false;
86  strafe_neg_only_ = false;
87  strafing_pos_ = false;
88  strafing_neg_ = false;
89 
90  rot_pos_only_ = false;
91  rot_neg_only_ = false;
92  rotating_pos_ = false;
93  rotating_neg_ = false;
94 
95  forward_pos_only_ = false;
96  forward_neg_only_ = false;
97  forward_pos_ = false;
98  forward_neg_ = false;
99 }
100 
102  bool flag_set = false;
103  //set oscillation flags for moving forward and backward
104  if (t->xv_ < 0.0) {
105  if (forward_pos_) {
106  forward_neg_only_ = true;
107  flag_set = true;
108  }
109  forward_pos_ = false;
110  forward_neg_ = true;
111  }
112  if (t->xv_ > 0.0) {
113  if (forward_neg_) {
114  forward_pos_only_ = true;
115  flag_set = true;
116  }
117  forward_neg_ = false;
118  forward_pos_ = true;
119  }
120 
121  //we'll only set flags for strafing and rotating when we're not moving forward at all
122  if (fabs(t->xv_) <= min_vel_trans) {
123  //check negative strafe
124  if (t->yv_ < 0) {
125  if (strafing_pos_) {
126  strafe_neg_only_ = true;
127  flag_set = true;
128  }
129  strafing_pos_ = false;
130  strafing_neg_ = true;
131  }
132 
133  //check positive strafe
134  if (t->yv_ > 0) {
135  if (strafing_neg_) {
136  strafe_pos_only_ = true;
137  flag_set = true;
138  }
139  strafing_neg_ = false;
140  strafing_pos_ = true;
141  }
142 
143  //check negative rotation
144  if (t->thetav_ < 0) {
145  if (rotating_pos_) {
146  rot_neg_only_ = true;
147  flag_set = true;
148  }
149  rotating_pos_ = false;
150  rotating_neg_ = true;
151  }
152 
153  //check positive rotation
154  if (t->thetav_ > 0) {
155  if (rotating_neg_) {
156  rot_pos_only_ = true;
157  flag_set = true;
158  }
159  rotating_neg_ = false;
160  rotating_pos_ = true;
161  }
162  }
163  return flag_set;
164 }
165 
167  if ((forward_pos_only_ && traj.xv_ < 0.0) ||
168  (forward_neg_only_ && traj.xv_ > 0.0) ||
169  (strafe_pos_only_ && traj.yv_ < 0.0) ||
170  (strafe_neg_only_ && traj.yv_ > 0.0) ||
171  (rot_pos_only_ && traj.thetav_ < 0.0) ||
172  (rot_neg_only_ && traj.thetav_ > 0.0)) {
173  return -5.0;
174  }
175  return 0.0;
176 }
177 
178 } /* namespace base_local_planner */
void resetOscillationFlags()
Reset the oscillation flags for the local planner.
double cost_
The cost/score of the trajectory.
Definition: trajectory.h:62
bool setOscillationFlags(base_local_planner::Trajectory *t, double min_vel_trans)
Given a trajectory that&#39;s selected, set flags if needed to prevent the robot from oscillating...
double thetav_
The x, y, and theta velocities of the trajectory.
Definition: trajectory.h:60
void resetOscillationFlagsIfPossible(const Eigen::Vector3f &pos, const Eigen::Vector3f &prev)
Holds a trajectory generated by considering an x, y, and theta velocity.
Definition: trajectory.h:44
void updateOscillationFlags(Eigen::Vector3f pos, base_local_planner::Trajectory *traj, double min_vel_trans)
void setOscillationResetDist(double dist, double angle)


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Thu Jan 21 2021 04:05:49