rotate_to_goal.h

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#ifndef DWB_CRITICS_ROTATE_TO_GOAL_H_
#define DWB_CRITICS_ROTATE_TO_GOAL_H_

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

namespace dwb_critics
{

class RotateToGoalCritic : public dwb_local_planner::TrajectoryCritic
{
public:
  void onInit() override;
  void reset() 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;

  virtual double scoreRotation(const dwb_msgs::Trajectory2D& traj);

protected:
  bool in_window_, rotating_;
  double goal_yaw_;
  double xy_goal_tolerance_;
  double xy_goal_tolerance_sq_;  
  double current_xy_speed_sq_, stopped_xy_velocity_sq_;
  double slowing_factor_;
  double lookahead_time_;
};

}  // namespace dwb_critics
#endif  // DWB_CRITICS_ROTATE_TO_GOAL_H_