oscillation.h

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#ifndef DWB_CRITICS_OSCILLATION_H_
#define DWB_CRITICS_OSCILLATION_H_

#include <dwb_local_planner/trajectory_critic.h>
#include <vector>
#include <string>

namespace dwb_critics
{

class OscillationCritic: public dwb_local_planner::TrajectoryCritic
{
public:
  void onInit() override;
  bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel,
               const geometry_msgs::Pose2D& goal, const nav_2d_msgs::Path2D& global_plan) override;
  double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) override;
  void reset() override;
  void debrief(const nav_2d_msgs::Twist2D& cmd_vel) override;

protected:
  class CommandTrend
  {
  public:
    CommandTrend();
    void reset();

    bool update(double velocity);

    bool isOscillating(double velocity);

    bool hasSignFlipped();

  protected:
    // Simple Enum for Tracking
    enum class Sign { ZERO, POSITIVE, NEGATIVE };

    Sign sign_;
    bool positive_only_, negative_only_;
  };

  bool setOscillationFlags(const nav_2d_msgs::Twist2D& cmd_vel);

  bool resetAvailable();

  CommandTrend x_trend_, y_trend_, theta_trend_;
  double oscillation_reset_dist_, oscillation_reset_angle_, x_only_threshold_;
  double oscillation_reset_time_;

  // Cached square parameter
  double oscillation_reset_dist_sq_;

  // Saved positions
  geometry_msgs::Pose2D pose_, prev_stationary_pose_;
  // Saved timestamp
  ros::Time prev_reset_time_;
};

}  // namespace dwb_critics
#endif  // DWB_CRITICS_OSCILLATION_H_