base_obstacle.h

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#ifndef DWB_CRITICS_BASE_OBSTACLE_H
#define DWB_CRITICS_BASE_OBSTACLE_H

#include <dwb_local_planner/trajectory_critic.h>

namespace dwb_critics
{
class BaseObstacleCritic : public dwb_local_planner::TrajectoryCritic
{
public:
  void onInit() override;
  double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) override;
  void addCriticVisualization(sensor_msgs::PointCloud& pc) override;

  virtual double scorePose(const nav_core2::Costmap& costmap, const geometry_msgs::Pose2D& pose);

  virtual bool isValidCost(const unsigned char cost);

protected:
  bool sum_scores_;
};
}  // namespace dwb_critics

#endif  // DWB_CRITICS_BASE_OBSTACLE_H