oscillation_cost_function.h
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37 
38 #ifndef OSCILLATION_COST_FUNCTION_H_
39 #define OSCILLATION_COST_FUNCTION_H_
40 
42 #include <Eigen/Core>
43 
44 namespace base_local_planner {
45 
47 public:
49  virtual ~OscillationCostFunction();
50 
51  double scoreTrajectory(Trajectory &traj);
52 
53  bool prepare() {return true;};
54 
58  void resetOscillationFlags();
59 
60 
61  void updateOscillationFlags(Eigen::Vector3f pos, base_local_planner::Trajectory* traj, double min_vel_trans);
62 
63  void setOscillationResetDist(double dist, double angle);
64 
65 private:
66 
67  void resetOscillationFlagsIfPossible(const Eigen::Vector3f& pos, const Eigen::Vector3f& prev);
68 
75  bool setOscillationFlags(base_local_planner::Trajectory* t, double min_vel_trans);
76 
77  // flags
81 
82  // param
84 
85  Eigen::Vector3f prev_stationary_pos_;
86 };
87 
88 } /* namespace base_local_planner */
89 #endif /* OSCILLATION_COST_FUNCTION_H_ */
void resetOscillationFlags()
Reset the oscillation flags for the local planner.
geometry_msgs::TransformStamped t
TFSIMD_FORCE_INLINE tfScalar angle(const Quaternion &q1, const Quaternion &q2)
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...
void resetOscillationFlagsIfPossible(const Eigen::Vector3f &pos, const Eigen::Vector3f &prev)
Provides an interface for critics of trajectories During each sampling run, a batch of many trajector...
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