twirling_cost_function.h

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#ifndef TWIRLING_COST_FUNCTION_H
#define TWIRLING_COST_FUNCTION_H

#include <base_local_planner/trajectory_cost_function.h>

namespace base_local_planner {

class TwirlingCostFunction: public base_local_planner::TrajectoryCostFunction {
public:

  TwirlingCostFunction() {}
  ~TwirlingCostFunction() {}

  double scoreTrajectory(Trajectory &traj);

  bool prepare() {return true;};
};

} /* namespace base_local_planner */
#endif /* TWIRLING_COST_FUNCTION_H_ */