twirling.cpp
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34 
35 #include <dwb_critics/twirling.h>
37 
38 namespace dwb_critics
39 {
41 {
42  // Scale is set to 0 by default, so if it was not set otherwise, set to 0
43  if (!critic_nh_.hasParam("scale"))
44  {
45  scale_ = 0.0;
46  }
47 }
48 
49 double TwirlingCritic::scoreTrajectory(const dwb_msgs::Trajectory2D& traj)
50 {
51  return fabs(traj.velocity.theta); // add cost for making the robot spin
52 }
53 } // namespace dwb_critics
54 
Penalize trajectories with rotational velocities.
Definition: twirling.h:51
double scoreTrajectory(const dwb_msgs::Trajectory2D &traj) override
Definition: twirling.cpp:49
void onInit() override
Definition: twirling.cpp:40
bool hasParam(const std::string &key) const
#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