simple_goal_checker.cpp
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34 
37 #include <angles/angles.h>
38 
39 namespace dwb_plugins
40 {
41 
43  xy_goal_tolerance_(0.25), yaw_goal_tolerance_(0.25), stateful_(true), check_xy_(true), xy_goal_tolerance_sq_(0.0625)
44 {
45 }
46 
48 {
49  nh.param("xy_goal_tolerance", xy_goal_tolerance_, 0.25);
50  nh.param("yaw_goal_tolerance", yaw_goal_tolerance_, 0.25);
51  nh.param("stateful", stateful_, true);
53 }
54 
56 {
57  check_xy_ = true;
58 }
59 
60 bool SimpleGoalChecker::isGoalReached(const geometry_msgs::Pose2D& query_pose, const geometry_msgs::Pose2D& goal_pose,
61  const nav_2d_msgs::Twist2D& velocity)
62 {
63  if (check_xy_)
64  {
65  double dx = query_pose.x - goal_pose.x,
66  dy = query_pose.y - goal_pose.y;
67  if (dx * dx + dy * dy > xy_goal_tolerance_sq_)
68  {
69  return false;
70  }
71  // We are within the window
72  // If we are stateful, change the state.
73  if (stateful_)
74  {
75  check_xy_ = false;
76  }
77  }
78  double dyaw = angles::shortest_angular_distance(query_pose.theta, goal_pose.theta);
79  return fabs(dyaw) < yaw_goal_tolerance_;
80 }
81 
82 } // namespace dwb_plugins
83 
Goal Checker plugin that only checks the position difference.
void initialize(const ros::NodeHandle &nh) override
bool param(const std::string &param_name, T &param_val, const T &default_val) const
bool isGoalReached(const geometry_msgs::Pose2D &query_pose, const geometry_msgs::Pose2D &goal_pose, const nav_2d_msgs::Twist2D &velocity) override
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)
def shortest_angular_distance(from_angle, to_angle)


dwb_plugins
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autogenerated on Wed Jun 26 2019 20:06:16