path_align.cpp
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34 #include <dwb_critics/path_align.h>
38 #include <vector>
39 #include <string>
40 
41 namespace dwb_critics
42 {
43 
45 {
47  stop_on_failure_ = false;
48  forward_point_distance_ = nav_2d_utils::searchAndGetParam(critic_nh_, "forward_point_distance", 0.325);
49 }
50 
51 bool PathAlignCritic::prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel,
52  const geometry_msgs::Pose2D& goal,
53  const nav_2d_msgs::Path2D& global_plan)
54 {
55  double dx = pose.x - goal.x;
56  double dy = pose.y - goal.y;
57  double sq_dist = dx * dx + dy * dy;
59  {
60  zero_scale_ = false;
61  }
62  else
63  {
64  // once we are close to goal, trying to keep the nose close to anything destabilizes behavior.
65  zero_scale_ = true;
66  return true;
67  }
68 
69  return PathDistCritic::prepare(pose, vel, goal, global_plan);
70 }
71 
73 {
74  if (zero_scale_)
75  return 0.0;
76  else
77  return costmap_->getResolution() * 0.5 * scale_;
78 }
79 
80 double PathAlignCritic::scorePose(const geometry_msgs::Pose2D& pose)
81 {
83 }
84 
85 } // namespace dwb_critics
86 
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
Definition: path_align.cpp:51
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
Definition: path_dist.cpp:42
virtual double scorePose(const geometry_msgs::Pose2D &pose)
Retrieve the score for a single pose.
Definition: map_grid.cpp:170
param_t searchAndGetParam(const ros::NodeHandle &nh, const std::string &param_name, const param_t &default_value)
geometry_msgs::Pose2D getForwardPose(const geometry_msgs::Pose2D &pose, double distance)
Projects the given pose forward the specified distance in the x direction.
Scores trajectories based on how far from the global path the front of the robot ends up...
Definition: path_align.h:56
double getScale() const override
Definition: path_align.cpp:72
nav_core2::Costmap::Ptr costmap_
double scorePose(const geometry_msgs::Pose2D &pose) override
Retrieve the score for a single pose.
Definition: path_align.cpp:80
void onInit() override
Definition: map_grid.cpp:60
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)


dwb_critics
Author(s): David V. Lu!!
autogenerated on Sun Jan 10 2021 04:08:44