prefer_forward.cpp
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34 
36 #include <math.h>
38 
40 
41 namespace dwb_critics
42 {
43 
44 void PreferForwardCritic::onInit()
45 {
46  critic_nh_.param("penalty", penalty_, 1.0);
47  critic_nh_.param("strafe_x", strafe_x_, 0.1);
48  critic_nh_.param("strafe_theta", strafe_theta_, 0.2);
49  critic_nh_.param("theta_scale", theta_scale_, 10.0);
50 }
51 
52 double PreferForwardCritic::scoreTrajectory(const dwb_msgs::Trajectory2D& traj)
53 {
54  // backward motions bad on a robot without backward sensors
55  if (traj.velocity.x < 0.0)
56  {
57  return penalty_;
58  }
59  // strafing motions also bad on such a robot
60  if (traj.velocity.x < strafe_x_ && fabs(traj.velocity.theta) < strafe_theta_)
61  {
62  return penalty_;
63  }
64 
65  // the more we rotate, the less we progress forward
66  return fabs(traj.velocity.theta) * theta_scale_;
67 }
68 
69 } /* namespace dwb_critics */
Penalize trajectories with move backwards and/or turn too much.
#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